Wind Disturbance Rejection Control Law Based on AESO for a Hybrid Tail-Sitter UAV

Hybrid tail-sitter unmanned aerial vehicles (UAVs) are sensitive to the wind disturbance in the vertical take-off and landing (VTOL) stage, which can easily affect control performance and even stability. Aiming at this problem, this paper proposes a wind disturbance rejection control law based on adaptive extended state observer (AESO). This method combines a nominal control law and a novel disturbance observer. Among them, the nominal control law uses proportional-integral-differential (PID) control method to achieve a good control performance without wind disturbance. The disturbance observer based on AESO algorithm can accurately estimate wind disturbances while eliminating peaking phenomenon under sensor noises. Simulation results demonstrate the effectiveness of the proposed control method.