Adaptive Output Feedback Dynamic Surface Control for a Class of Quadrotor UAVs with External Disturbance

An adaptive dynamic surface control scheme based on state observer is proposed for a class of four rotor systems with external disturbances. The state observer can estimate the unmeasurable state of the system, provide real-time states information for the flight control system of the UAV, and ensure the tracking performance of quadrotor UAV. Lyapunov stability analysis method is used to prove the stability of the closed-loop system. Finally, the Simulink simulation platform is established in MATLAB to verify the effectiveness of the control algorithm.