Composite Nonlinear Extended State Observer-Based Trajectory Tracking Control for Quadrotor Under Input Constraints

• Published in: IEEE transactions on circuits and systems. I, Regular papers Vol. 70; no. 10; pp. 1 - 11
• Main Authors: Zhao, Kai, Zhang, Jinhui, Shu, Peixuan, Dong, Xiwang
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.10.2023; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Automation; Composite nonlinear ESO; Controllers; disturbance rejection; Disturbances; Estimation; nested saturation control; quadrotor; Quadrotors; Rejection; Stability analysis; State observers; Tracking control; Trajectory control; Trajectory tracking; Transient analysis; Velocity measurement

In this paper, the trajectory tracking control problem of quadrotor subject to unknown external disturbance and input constraints is addressed. In order to achieve the active disturbance rejection, a composite nonlinear extended state observer (ESO) consisting of both linear and nonlinear functions...