Modeling and Linear Active Disturbance Rejection Control of a New Morphing Quadrotor

In many practical applications like rescues, the morphing quadrotors perform better than conventional quadrotors in complex and variable environments, such as traveling through narrow gaps. However, their dynamic properties are more complicated. In this paper, a new morphing quadrotor with foldable arms is presented. Then, the dynamic model of the morphing quadrotor is established. Moreover, the linear active disturbance rejection control (LADRC) method is used to achieve stable flight during morphing, and its performance is compared with the PID method with the simulations.