Actuator-Aware Observer Inputs for Cascade ADRC of Quadrotors Under Rotor Lag, Measurement Delay and Sensor Noise

Xuan-Quy Dao, Ngoc-Bich Le, Le-Minh Nguyen

In sampled cascade linear active disturbance rejection control (LADRC) of quadrotors, the extended-state observer typically receives the instantaneous command, although the delayed…