Advanced Motion Control of a Quadrotor Unmanned Aerial Vehicle based on Extended State Observer

This paper presents a backstepping sliding mode control with reaching law based on an extended state observer for tracking control of a quadrotor unmanned aerial vehicle (UAV) under external disturbances. Firstly, a six-degree-of-freedom quadrotor UAV model with disturbances is given. Secondly, the cascade control system is proposed with the Backstepping Sliding Mode controller to track the desired trajectory command under parameter uncertainties. Thirdly, the extended state observer is designed to estimate the external disturbances and rate of the states of the quadrotor UAV to reduce the sensor and increase robustness. The stability of the system is demonstrated by Lyapunov theory and the simulation results via Matlab/Simulink environment.