Current-Loop Control for the Pitching Axis of Aerial Cameras via an Improved ADRC

Table 2

Parameters of the traditional ADRC.

Component of improved ADRC	Parameter name	Symbol	Numerical value
TD	Velocity factor		10
	Filter factor		0.02
Traditional ESO	Nonlinear factor		1
	Nonlinear factor		0.5
	Linear interval width		0.01
	Gain coefficient		60
	Gain coefficient		1200
Traditional NLSEF	Nonlinear factor		0.5
	Filter factor		0.01
	Gain coefficient		75
DCD	Compensation coefficient		1