A Second-Order LADRC-Based Control Strategy for Quadrotor UAVs Using a Modified Crayfish Optimization Algorithm and Fuzzy Logic

To enhance the rapid and stable tracking of a specified trajectory by quadcopter drones, while ensuring a degree of resistance to external wind disturbances, this paper proposes an integrated control strategy that combines an optimization algorithm and fuzzy control. In this system, both the positio...

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Bibliographic Details
Published in:Electronics (Basel) Vol. 14; no. 15; p. 3124
Main Authors: Li, Kelin, Wang, Guangzhao, Bai, Yalei
Format: Journal Article
Language:English
Published: Basel MDPI AG 05.08.2025
Subjects:
Aircraft
Algorithms
Analysis
Artificial intelligence
Closed loops
Control systems
Controllers
Disturbances
Drones
Feedback control
Fuzzy control
Fuzzy logic
Mathematical optimization
Neural networks
Optimization
Optimization algorithms
Robust control
Simulation
Tracking errors
Wind resistance
ISSN:2079-9292, 2079-9292
Online Access:Get full text
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Summary:To enhance the rapid and stable tracking of a specified trajectory by quadcopter drones, while ensuring a degree of resistance to external wind disturbances, this paper proposes an integrated control strategy that combines an optimization algorithm and fuzzy control. In this system, both the position and attitude loops utilize second-order Linear Active Disturbance Rejection Control (LADRC) controllers, supplemented by fuzzy controllers. These controllers have been optimized using a modified crayfish optimization algorithm (MCOA), resulting in a dual-closed-loop control system. In comparisons with both the dual-closed-loop LADRC controller and the dual-closed-loop fuzzy control LADRC controller, the proposed method reduces the rise time by 52.87% in the X-channel under wind-free conditions, reduces the maximum trajectory tracking error by 86.37% under wind-disturbed conditions, and reduces the ITAE exponent by 66.2%, which demonstrates that the newly designed system delivers excellent tracking speed and accuracy along the specified trajectory. Furthermore, it remains effective even in the presence of external disturbances, it can reliably maintain the target position and the attitude angle, demonstrating strong resistance to interference and stability.
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ISSN:2079-9292
2079-9292
DOI:10.3390/electronics14153124