Nonlinear tracking control for quadrotor aircraft with disturbance observer

In order to solve the problem of trajectory tracking control of quad-rotor aircraft with uncertain disturbances, a tracking strategy using an extended state observer to estimate the disturbance in the system was proposed. The strategy is designed by the sliding mode controller considering the estimation to overcome the uncertainty of the model and the disturbance of external uncertainties, and he tracking error of the system are ultimately bounded under the control law. The stability of the controller system designed by the above method is verified by Lyapunov stability theory. Simulation results show that the controller can realize trajectory tracking control of aircraft.