Generalized Extended State Observer Based High Precision Attitude Control of Quadrotor Vehicles Subject to Wind Disturbance

• Published in: IEEE access Vol. 6; pp. 32349 - 32359
• Main Authors: Shi, Di, Wu, Zhong, Chou, Wusheng
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 01.01.2018; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Attenuation; Attitude control; Control stability; Control systems design; Controllers; Disturbances; GESO; high precision; Mathematical model; Mathematical models; Observers; Performance evaluation; Polynomials; Quadrotor; Quaternions; Rotors; Stability analysis; State observers; Tracking control; Uncertainty; wind disturbance; Wind effects

Wind disturbance may significantly degrade the attitude control performance during the flight of quadrotor vehicles. In order to meet the requirement of high-precision attitude control, a generalized extend state observer (GESO)-based disturbance and uncertainty estimation and attenuation control st...