A flight controller based on extend state observer for quadrotor aerial vehicles

In order to solve the problems of parameter uncertainty and sensitivity to external disturb, a flight control system for quadrotor based on extend state observer was proposed. First, the flight dynamic model for quadrotor was built. Then, the effect resulted from parameter uncertainty and external disturb was taken as general system disturb so it could be estimated online by extend state observer. Further, the error feedback was designed to ensure the control system performance. Finally, simulations verify the controller.