Extended state observer-based nonlinear cascade proportional-integral-derivative control of the nano quadrotor

Abstract

The nano quadrotor is a nonlinear multi-input and multi-output system with strong coupling, which causes difficulties in control law design. In order to achieve a favorable performance, an extended state observer-based nonlinear cascade proportional-integral-derivative controller is proposed in this article. First, the nano quadrotor platform is built, and the dynamic model is established. Second, a novel and practical measuring method is given to obtain model parameters. Then, based on the active disturbance rejection control method, the design procedure of the extended state observer-based nonlinear cascade proportional-integral-derivative controller is presented. In the developed controller, a tracking differentiator is involved to extract the signals of gyroscope, and extended state observer is used to estimate the disturbance. To obtain a better performance of tracking differentiator and extended state observer, a systematic parameter-tuning method is studied. Finally, simulation results are given to demonstrate the efficiency of the proposed controller.