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

Table 3

Parameters of the improved ADRC.

Component of improved ADRC	Parameter	Symbol	Numerical value
TD	Velocity factor		200
	Filter factor		0.01
Improved ESO	Nonlinear factor		0.5
	Nonlinear factor		0.25
	Linear interval width		0.01
	Gain coefficient		30
	Gain coefficient		300
Improved NLSEF	Nonlinear factor		0.75
	Filter factor		0
	Gain coefficient		1000
DCD	Compensation coefficient		2.485