High-precision Control of Plant Protection Quadrotors Based on Reduced-order Linear Extended State Observer

To solve the problem of wind disturbances, disturbance torques and parameter perturbation, a feedback linearization control based on reduced-order linear extended state observer (LESO) is proposed to realize the high-precision control of the plant protection quadrotor. With the construction of the extended state model for the plant protection quadrotor position and attitude angles, the reduce-order LESO is proposed to estimate the model uncertainties. By incorporating the estimation information of reduce-order LESO and the measurement information of the plant protection quadrotor, the feedback linearization control is proposed to realize stale position tracking and angle control. Finally, the effectiveness of this control method is proposed by simulations.