Qball2四旋翼飞行器偏航角的转动由反扭力提供，相较由升力提供动力的俯仰角和滚转角来说更容易出现转速饱和的情况，并且模型具有参数不确定、强耦合、易受外部干扰等特点。针对上述问题采用一种基于误差补偿的线性自抗扰控制(LADRC)算法对偏航姿态进行控制，LADRC算法具有不基于模型、抗扰能力强、参数整定简单等优点。基于误差补偿的抗饱和方案结构简单、灵活度高、抗饱和性能好。仿真和Qball2平台实验结果表明:所设计的控制器能较好地解决偏航角转速饱和的问题，提高了系统的动态性能和稳态性能。

The rotation of the Qball2 quadrotor yaw angle is provided by the reverse torsion, which is more prone to the speed saturation than the pitch and roll angles powered by the lift, and the model has the features of parameter uncertainty, strong coupling, and is susceptible to external interference. To solve the above problems, a Linear Active Disturbance Rejection Control (LADRC) algorithm based on error compensation is used to control the yaw attitude. The LADRC algorithm has the advantages of not based on model, strong anti-interference ability and simple parameter setting. The anti-saturation scheme based on error compensation has a simple structure, high flexibility and good anti-saturation performance. The simulation and Qball2 platform experimental results show that the designed controller can better solve the problem of yaw angle speed saturation and improve the dynamic performance and steady state performance of the system.