Abstract
Robust adaptive attitude control problems for the quad-rotor UAV with external disturbances and parametric uncertainties are investigated. Firstly, the nonlinear attitude movement model is established by considering the parametric uncertainties and the external disturbances. The linear quadratic regulator (LQR) controller is introduced to guarantee the control performance. Nonlinear extended state observer (NESO) is designed to estimate and compensate the internal uncertainties and external disturbance. Secondly, the robust adaptive attitude controller based on the LQR controller and the nonlinear extended state observer is proposed to achieve high precision attitude control. Then, the stability of the closed-loop system is proved. Finally, numerical simulations and physical experiments are performed to verify the effectiveness of theoretical results.
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