Research on Wind-Resistant Stable Hovering Strategy of Variable-Pitch Quadrotor UAV Based on PID-LADRC Feedforward Control

Addressing the challenge of stable hovering in complex wind environments, this paper introduces a novel control architecture for variable-pitch quadrotor UAVs that enhances wind resistance. Initially, a dynamic model is developed to capture the impact of wind disturbances on the UAV. This model informs the design of a synergistic controller that adjusts rotor speed and pitch, incorporating feed-forward control strategies to mitigate external wind effects dynamically. Furthermore, to boost the system’s robustness and stability, this study develops both inner and outer loop controllers using PID (Proportional-Integral-Differential) and LADRC (Linear Active Disturbance Rejection Control) techniques. These controllers facilitate accurate real-time estimation and compensation of wind perturbations. Experimental results confirm that the proposed variable-pitch quadrotor UAV surpasses traditional and non-synergistic variable-pitch models in wind resistance, showcasing substantial performance benefits.