UDE-Based SPT Tracking Control for Quadrotor UAV with Uncertainty and Disturbance

The uncertainty and disturbance estimator (UDE) based controller is proposed in this paper for a quadrotor modeled via singular perturbation theory (SPT). Firstly, the quadrotor model is decomposed into a slow subsystem (reduced-order model) and a fast subsystem (boundary-layer model). The slow-subsystem includes the position loop and the attitude angle loop, while the attitude angle velocity loop is regarded as the fast subsystem. Then, two UDE-based controllers are designed to handle the unknown payload, inertia uncertainties, and external disturbances for these two subsystems respectively. Finally, several numerical simulation results are provided to verify the effectiveness of the proposed quadrotor UAV controller scheme.