Attitude Active Disturbance Rejection Control of the Quadrotor and Its Parameter Tuning

Table 3

ADRC tuning parameters.

	Parameter	Description
TD		The larger is the faster the tracking speed, but the more obvious the noise amplification
		The larger is the better the filtering effect, but the more serious the phase loss of the tracking signal
ESO		Increase to suppress the overshoot of the system, but too large will lead to longer rise time
		Increase can reduce the steady-state error of the system, but too large will cause oscillation
		Increase can reduce the lag of ESO’s estimation of the total disturbance of the controlled system, but too large will cause oscillation
		Too large causes the current linear feedback to be too large, ESO cannot track the nonlinear signal well, and too small will cause jitter
SENCL		Too large causes the system overshoot to increase, the rise time becomes shorter, and the system oscillates
		Increase can reduce the oscillation, but too large will lead to longer rise time
		Same as