Antisaturation Command Filtered Backstepping Control-Based Disturbance Rejection for a Quadarotor UAV

Abstract

This brief investigates the tracking control problem of the quadrotor unmanned aerial vehicle considering the disturbance and input saturation. According to the hierarchical control principle, the quadrotor dynamics is decomposed into position and attitude loops to accommodate the controller design. To overcome the disturbance, two disturbance observer-based state estimators are designed in two loops, respectively. By integrating the filtering-error compensation mechanism and auxiliary control system into the dynamic surface control, the input saturation and filtering errors can be solved. In addition, the tracking errors of the closed-loop system can converge to the origin. Finally, simulation results show the validity of the proposed control formulation.