An enhanced anti-disturbance attitude control for the unmanned aerial vehicle subject to multiple disturbances

Abstract

In order to further improve the anti-disturbance capability and reduce the conservativeness of unmanned aerial vehicle (UAV) attitude control system, a new enhanced anti-disturbance control law by combining the active disturbance rejection control with disturbance observer-based control is proposed. On the one hand, the disturbances such as external environmental disturbance and complex model nonlinearity are merged into an equivalent disturbance with bounded derivative, which is compensated by the active disturbance rejection control law. On the other hand, the disturbance observer-based control is utilized to estimate the disturbances which have the detailed priori information. The system stability analysis is given by the Lyapunov method. The numerical simulation is carried out to verify the efficiency of the proposed method.