Actuator-Aware Observer Inputs for Cascade ADRC of Quadrotors Under Rotor Lag, Measurement Delay and Sensor Noise
Actuator-Aware Observer Inputs for Cascade ADRC of Quadrotors Under Rotor Lag, Measurement Delay and Sensor Noise
This paper proposes actuator-aware (AA) observer inputs for sampled cascade linear active disturbance rejection control (LADRC) of quadrotors.
This study presents simulation-based results for a quadrotor control architecture that incorporates actuator-aware observer inputs to address rotor lag, measurement delay, and sensor noise within a cascade ADRC framework.
Source: arXiv Robotics — research abstracts · Read original article ↗
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What the source reports
Publisher-reported claims, with original evidence. These results have not been independently verified by RoboSignal.
- Environment
- SimulationOpen source S6
Reported numbers
altitude RMSE
65.5
View original evidence
ials, PID-Budget, AA-Budget and AA-HalfGain reach mean RMSEs of 65.5, 19.2 and 16.9~mm; under a stricter common cascade ceiling, the AA designs reach 29.9 and 26.4~mm versus 72.3~mm for a PID that uses roughly double their rotor-command increment. PX4 software-in-the-loop runs reproduce these results. Behind EKF2, a noise model fitted to the estimation errors predicts the roll/pitch and yaw increments within 5\% on h
Open source S4altitude RMSE
19.2
View original evidence
ials, PID-Budget, AA-Budget and AA-HalfGain reach mean RMSEs of 65.5, 19.2 and 16.9~mm; under a stricter common cascade ceiling, the AA designs reach 29.9 and 26.4~mm versus 72.3~mm for a PID that uses roughly double their rotor-command increment. PX4 software-in-the-loop runs reproduce these results. Behind EKF2, a noise model fitted to the estimation errors predicts the roll/pitch and yaw increments within 5\% on h
Open source S4altitude RMSE
16.9
View original evidence
ials, PID-Budget, AA-Budget and AA-HalfGain reach mean RMSEs of 65.5, 19.2 and 16.9~mm; under a stricter common cascade ceiling, the AA designs reach 29.9 and 26.4~mm versus 72.3~mm for a PID that uses roughly double their rotor-command increment. PX4 software-in-the-loop runs reproduce these results. Behind EKF2, a noise model fitted to the estimation errors predicts the roll/pitch and yaw increments within 5\% on h
Open source S4altitude RMSE
29.9
View original evidence
ials, PID-Budget, AA-Budget and AA-HalfGain reach mean RMSEs of 65.5, 19.2 and 16.9~mm; under a stricter common cascade ceiling, the AA designs reach 29.9 and 26.4~mm versus 72.3~mm for a PID that uses roughly double their rotor-command increment. PX4 software-in-the-loop runs reproduce these results. Behind EKF2, a noise model fitted to the estimation errors predicts the roll/pitch and yaw increments within 5\% on h
Open source S4altitude RMSE
26.4
View original evidence
ials, PID-Budget, AA-Budget and AA-HalfGain reach mean RMSEs of 65.5, 19.2 and 16.9~mm; under a stricter common cascade ceiling, the AA designs reach 29.9 and 26.4~mm versus 72.3~mm for a PID that uses roughly double their rotor-command increment. PX4 software-in-the-loop runs reproduce these results. Behind EKF2, a noise model fitted to the estimation errors predicts the roll/pitch and yaw increments within 5\% on h
Open source S4altitude RMSE
72.3
View original evidence
ials, PID-Budget, AA-Budget and AA-HalfGain reach mean RMSEs of 65.5, 19.2 and 16.9~mm; under a stricter common cascade ceiling, the AA designs reach 29.9 and 26.4~mm versus 72.3~mm for a PID that uses roughly double their rotor-command increment. PX4 software-in-the-loop runs reproduce these results. Behind EKF2, a noise model fitted to the estimation errors predicts the roll/pitch and yaw increments within 5\% on h
Open source S4altitude RMSE
59.1
View original evidence
eld-out and out-of-sample runs and the total rotor-command increment within 14\%. The controllers were then redesigned for this stack under the same sensitivity and response specification and estimator-aware ceilings. AA-Budget-E reduces the set-point RMSE from 59.1~mm (PID-E) to 44.0~mm with a lower rotor-command increment in every paired set-point and lemniscate run (mean S6 reduction: 45\% before and 15\% after ou
Open source S5altitude RMSE
44
View original evidence
eld-out and out-of-sample runs and the total rotor-command increment within 14\%. The controllers were then redesigned for this stack under the same sensitivity and response specification and estimator-aware ceilings. AA-Budget-E reduces the set-point RMSE from 59.1~mm (PID-E) to 44.0~mm with a lower rotor-command increment in every paired set-point and lemniscate run (mean S6 reduction: 45\% before and 15\% after ou
Open source S5
- paper: not_reported
Source excerpts and review record
Automatically extracted; no manual editorial approval recorded.
tput quantization); AA-HalfGain-E beats PID-E only on the lemniscate. These results indicate that the observer input and the outer-to-inner noise path are design variables of sampled cascade LADRC. The evidence is simulation-based, and the ceilings are nominal tuning constraints.
Open source S6
ials, PID-Budget, AA-Budget and AA-HalfGain reach mean RMSEs of 65.5, 19.2 and 16.9~mm; under a stricter common cascade ceiling, the AA designs reach 29.9 and 26.4~mm versus 72.3~mm for a PID that uses roughly double their rotor-command increment. PX4 software-in-the-loop runs reproduce these results. Behind EKF2, a noise model fitted to the estimation errors predicts the roll/pitch and yaw increments within 5\% on h
Open source S4
eld-out and out-of-sample runs and the total rotor-command increment within 14\%. The controllers were then redesigned for this stack under the same sensitivity and response specification and estimator-aware ceilings. AA-Budget-E reduces the set-point RMSE from 59.1~mm (PID-E) to 44.0~mm with a lower rotor-command increment in every paired set-point and lemniscate run (mean S6 reduction: 45\% before and 15\% after ou
Open source S5
Source：arXiv Robotics — research abstracts · arxiv.org