Trajectory tracking control for a quadrotor UAV via extended state observer

Abstract

In this paper, the PD-type trajectory tracking controllevnr with the extended state observer (ESO) is proposed for the quadrotor unmanned aerial vehicle (UAV) to deal with the wind disturbance. A six-degree-of-freedom quadrotor UAV model with the hyperbolic tangent saturation function is built. The trajectory tracking problem for the quadrotor can be divided into the position and attitude loop. Then, the PD-type trajectory tracking controller with the ESO is designed in the position and attitude loop to compensate the effect of the wind disturbance. And the stability of the system is proved by the circle criterion. Simulation results are given to demonstrate the effectiveness of the proposed method.