The altitude control of a quadrotor unmanned aerial vehicle is treated using its altitude dynamics in hover mode. An LMS-based Adaptive Active disturbance rejection control (AADRC) is proposed to compensate for disturbance effects resulting in smoother control.
## Description An LMS algorithm for the adaptation of the observer gain was presented to automatically tune the ESO observer. The ESO observer linearizes the altitude dynamics. Subsequently, a PD controller was implemented for the linearized dynamics and was successfully simulated in Matlab The Altitude dynamics of a Quadrotor is given as follows:  Formulation of the ADRC Controller:  Formulation of the AADRC Controller using LMS:    ## Results The figure below shows the result of applying the AADRC for Altitude control 