Attitude control of coaxial tri-rotor UAV based on Linear Extended State Observer

A novel dynamic decoupling control method based on Linear Extended State Observer(LESO) for attitude stabilization of coaxial tri-rotor UAV is presented. Coaxial tri-rotor UAV system is a strong coupling, susceptible to disturbance, and multi-input multi-output (MIMO) system. High performance stabilization of such UAV is effected by virous uncertainties and disturbances which are difficult to measure. For this reason, we adopt Active Disturbance Rejection Control (ADRC) based on (LESO) and a linear feedback control law to estimate the dynamic disturbances and reject them out in real time to achieve desirable flight performance. The high performance of low overshoot, high accuracy, and strong robustness are demonstrated by the simulation results.