Dynamic Surface Attitude Tracking Control for a Quadrotor Using Disturbance Observer

Tianpeng Huang, Huishuang Shao

Abstract:

In this paper, a dynamic surface control strategy based on disturbance observer is proposed to stabilize three attitude angles of a quadrotor unmanned aerial vehicle (UAV) in the presence of external disturbance. To compensate for external disturbance, a disturbance observer with exponential convergence is developed. Considering the problem of explosion of complexity in traditional backstepping control, a first-order low-pass filter is used to avoid repeated differentiation of virtual control signal. Based on the disturbance observer and the filter, a robust attitude dynamic surface trajectory tracking control technique is designed for a quadrotor. The convergence of disturbance observation
error and tracking error is proved using Lyapunov theory. The comparative simulations are carried out to demonstrate the effectiveness of the proposed control scheme.

Submission Number: 105