Feedback Linearization with Improved ESO for Quadrotor Attitude Control.

Aiming at the nonlinear and strong coupling characteristics of quadrotor aircraft, as well as the attitude control problems with modeling errors and unknown disturbances, an improved active disturbance rejection control scheme is proposed in this paper. The feedback linearization method is used to convert the attitude dynamics model of unmanned aerial vehicles into a linear model, reducing the system error caused by small disturbance assumptions. The structure of the extended state observer (ESO) is improved so that it can simultaneously use the measurement information of angle and angular velocity to improve its estimation accuracy for time-varying disturbances; Based on the improved ESO, the design of an active disturbance rejection controller was completed and the stability of the control system was demonstrated. The simulation experimental results show that the self disturbance rejection controller based on improved ESO has strong anti-jamming and robustness.