Attitude control of a quadrotor unmanned aerial vehicle based on linear extended state observer

摘要

In this paper, a linear feedback controller for attitude tracking of a quadrotor unmanned aerial vehicle (UAV) is applied using linear extended state observer (LESO). The wind disturbance, aerodynamic damping and modeling uncertainties are considered in attitude mathematical model. A Linear extended state observer is designed to estimate the disturbances by treating it as an extended state. Based on the estimation, a feedback linear active disturbance rejection controller is designed to stabilize the attitude of the quadrotor UAV. Theoretical results are confirmed by simulation results.