Dynamic Surface Control for Quadrotor Based on Fixed-time Extended State Observer

Aiming at the control problems of strong coupling, nonlinearity and sensitivity under disturbance during flight of quadrotor unmanned aerial vehicle (UAV) attitude control, this paper proposes the following solutions. Based on active disturbance rejection control, the dynamic surface controllers are designed by using the fixed-time extended state observer (FXTESO). The observers are used to estimate and compensate the unknown comprehensive disturbance in real time. Then the robustness and antidisturbance ability of the system are improved. The dynamic surface control method effectively prevents “Differential explosion” phenomenon in the traditional backstepping method, the precise requirement of the mathematical model of the system is also circumvented. Compared with the traditional dynamic surface active disturbance rejection control, the scheme designed in this paper ensures that the UAV can track the set attitude Angle stably and accurately in the case of external disturbance, with strong anti-disturbance ability and small tracking error.