An ESO-based attitude sliding mode controller design for quadrotor UAV

Abstract

In order to improve the attitude control accuracy and anti-disturbance performance, this paper designs an attitude sliding mode controller based on the dilated state observer in order to improve the stability control of the quadrotor UAV with complex aerodynamics and susceptible to disturbances. First, establish the quadrotor dynamics equation using, and the expected value of the inner loop angle is obtained through PID position control and used as the input of the inner loop attitude control. Secondly, the inner loop attitude controller uses the expanded state observer to estimate the system input and output state information and the total internal and external disturbances in real time. Finally, the sliding mode control law is designed to compensate the estimated disturbance in real time to realize the attitude control, and the system stability is proved by the Lyapunov theory. The simulation results show that the designed controller has better active disturbance rejection capability and more accurate tracking capability.