Robust Quadrotor Attitude Control via Feedback Linearization and Enhanced High Order Sliding Mode Disturbance Observer

Abstract

This paper presents a robust quadrotor attitude control method that combines feedback linearization with an enhanced highorder sliding mode disturbance observer to address issues such as channel cross-coupling, model uncertainties, and both matched and mismatched disturbances. The proposed method with a prescribed bandwidth is proposed to estimate model uncertainties and disturbances along with their derivatives of arbitrary order. It is constructed by integrating a high-order sliding mode differentiator with an extended state observer. The particle swarm optimization algorithm is used to determine the optimal observer gain coefficients. Stability of system with proposed controller is proven using the input-to-state stability criterion, while stability of system with proposed method is established through Lyapunov analysis. Effectiveness of the proposed controller is demonstrated through comparisons with uncertainty and disturbance estimators, active disturbance rejection control, and cascaded PID controllers.