Robust trajectory tracking control for underactuatedquadrotor UAV based on ESO

For the system characteristics of the underactuated quadrotor unmanned aerial vehicle (UAV), in order to solve the weakness of the traditional control method of quadrotor UAV, such as the strong coupling of the system state, the influence of the modeling errors for the control accuracy and the weakness of the anti-interference ability, a robust trajectory tracking algorithm based on extended state observer (ESO) is designed. The interference is estimated by ESO, and the algorithm composites the interference in the control law. Because the extended state observer requires only to measure the output of the system, it is easy to implement in actual system. Simulation study is carried out in two different cases (circular and rectangular trajectory tracking), and the simulation results verify the effectiveness of the proposed algorithm.