Disturbance Observation and Control of Operational Unmanned Aerial Vehicles

UAVs are used widely in all works and life, and their operation forms and application scenarios are more complex than ever before. In order to deal with various disturbances faced by operational UAVs in application scenarios and achieve stable control, a disturbance observation and compensation structure combining linear extended state observer and sliding mode controller is proposed to achieve stable control of operational UAVs. Firstly, the typical operational UAV is taken as the research object, and the kinematics and dynamics models are established. Then, a linear extended state observer is designed to estimate the environment and body disturbances, and the sliding mode control method is combined to control the system. Finally, the effectiveness of the designed control method is verified through simulation.