Self-immunity study of quadrotor UAV based on Modelica system modeling and disturbance feed-forward compensation

For addressing the challenges of decreased attitude and trajectory tracking accuracy and a delayed response in the flight control operations of quadcopter unmanned aerial vehicles (UAVs) under the uncertainties of model parameters and external disturbances, this study leverages the advantages of the non-causal declarative modeling language Modelica in system modeling and simulation. In addition, it incorporates the nonlinear Active Disturbance Rejection Control (ADRC) framework for disturbance observation, estimation, and compensation. A state observer is designed to mitigate the impact of external disturbances and model uncertainties through feed-forward compensation, and stability analysis is conducted. Numerical simulations for hover resistance demonstrate that, compared to the cascade proportional integral differential (PID) control strategy, PID-NLADRC reduces the maximum deviation induced by wind disturbances by ∼50% and shortens the disturbance influence time by around 40%. Simulations for different trajectories, such as planar or spatial, smooth or abrupt changes, indicate that under the PID-NLADRC control strategy, the real-time spatial distance deviation mean is reduced by 69.5%, and the peak time is shortened by 75.7%. Validation through multi-objective applications and physical experiments highlights the advantages of PID-NLADRC in terms of positioning accuracy, rapid tracking, and disturbance suppression, aligning well with the fast, precise, and robust flight control requirements of quadcopter UAVs.