Actuator-Aware Observer Inputs for Cascade ADRC of Quadrotors Under Rotor Lag, Measurement Delay and Sensor Noise
Overview
This paper proposes actuator-aware (AA) observer inputs for sampled cascade linear active disturbance rejection control (LADRC) of quadrotors.
Generated from attributed reports · Updated 56 minutes ago
Event evidence and corrections
0 attributed source owners. Ownership does not establish independent confirmation. Quantities are reported separately and are never added together.
Environment: simulation
“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.”
Exact source · revision 2Source owner not reported
Reported quantity · altitude RMSE: 65.5 other · Basis not reported · Differing source assertions
“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”
Exact source · revision 2Source owner not reported
Reported quantity · altitude RMSE: 19.2 other · Basis not reported · Differing source assertions
“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”
Exact source · revision 2Source owner not reported
Reported quantity · altitude RMSE: 16.9 other · Basis not reported · Differing source assertions
“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”
Exact source · revision 2Source owner not reported
Reported quantity · altitude RMSE: 29.9 other · Basis not reported · Differing source assertions
“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”
Exact source · revision 2Source owner not reported
Reported quantity · altitude RMSE: 26.4 other · Basis not reported · Differing source assertions
“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”
Exact source · revision 2Source owner not reported
Reported quantity · altitude RMSE: 72.3 other · Basis not reported · Differing source assertions
“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”
Exact source · revision 2Source owner not reported
Reported quantity · altitude RMSE: 59.1 other · Basis not reported · Differing source assertions
“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”
Exact source · revision 2Source owner not reported
Reported quantity · altitude RMSE: 44 other · Basis not reported · Differing source assertions
“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”
Exact source · revision 2Source owner not reported
Evidence dependency changes (1)
- 2026-11-02T19:32:48.432Z · evidence updated · source revision 2. Evidence extraction was updated; current source attributions are shown above.
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- arXiv Robotics — research abstractsSignalActuator-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.
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