Active anti-disturbance control for QUAVs with gust and dead-zone characteristics

Natural wind disturbances and actuator dead zones can seriously affect the control performance and flight safety of quadrotor unmanned aerial vehicles. To achieve reliable control of quadrotor unmanned aerial vehicles with high accuracy, an active anti-disturbance approach of dynamic surface control based on a compensation function observer is proposed. The compensation function observer is applied to compensate the adverse effects of the unknown term. The proposed method, which combines compensation function observer and dynamic surface control, can overcome the unknown term effects and avoid the complexity explosion problem of backstepping control. The stability of the system is proved by using the method of Lyapunov theory. Comparing proportional integral differential, active disturbance rejection control and the proposed control algorithm separately, the simulation results show that the presented method has obvious advantages in both tracking error and convergence time.