Radial Basis Function Neural Networks (RBFNN) is a well−performing forward network with best approximation, simple training, fast learning convergence and the ability to overcome local minima problems. Linear Active Disturbance Rejection Control (LADRC) is a product of a tracking differentiator (TD), a linear extended state observer (LESO) and an error feedback control law (PD) and is a control technique for estimating compensation for uncertainty. In this paper, a robust control scheme based on linear active disturbance rejection is proposed to solve the problem that the quadrotor is susceptible to various disturbances during the take−off process of non−horizontal planes and strong disturbances. Click the Monitor and Tune Host Target controller in the Project Shortcuts tab to open the px4Demo_FlightController_top model.The quadrotor aircraft has the characteristics of simple structure, high attitude maintenance performance and strong maneuverability, and is widely used in air surveillance, post−disaster search and rescue, target tracking and military industry. Use two separate instances of MATLAB to run controller and plant model.ġ. In this task, we use the controller designed in Task 1 and run it with PX4 source code using the PX4 Host Target feature (for more information, see Integrate Simulator Plant Model Containing MAVLink Blocks with Flight Controller Running on PX4 Host Target).

Task 2: Deploy Controller as Host Target and Run Plant Model in Simulink In this task, we designed the multicopter plant and controller, and ensured that its performance is satisfactory in simulation. For more details on the controller tuning, see Position Tracking for X-Configuration Quadcopter. In such a scenario, the controller gains must be adjusted to meet the specified requirements. It may be possible that for other types of input commands such as step or ramp, the response is not ideal. Note that the controller gains are optimized for close tracking of a circular trajectory. To locate the block, go to Plant and Visualization > Quad_Plant_Dynamics > Visualization Subsystem.ĩ. You can also bring up the UAV Animation window by clicking on the Show animation button on the UAV Animation block.

Quadcopter Simulink Model