Wind Disturbance Rejection Technology for Quadrotor UAVs in Farmland Irrigation Applications

Abstract

This paper focuses on wind resistance technology for agricultural quadrotor drones, addressing the challenge of stable flight control under wind disturbances and variable payload conditions. To enhance anti-interference performance, an improved control algorithm integrating Active Disturbance Rejection Control (ADRC) and PID is proposed. A nonlinear dynamic model and wind disturbance model are established, and a nested dual-loop controller is designed, with parameters optimized via genetic algorithm (GA). Simulation results in MATLAB/Simulink demonstrate that the proposed method reduces roll angle error by 68% and trajectory deviation by 75% under 8 m/s wind conditions, while significantly improving spraying uniformity. The study provides an effective control strategy for agricultural UAVs operating in complex environments, offering both theoretical and practical value for precision agriculture applications.