Fully actuated anti-disturbance control for quadrotor UAVs based on dynamic compensator

To address the trajectory tracking control problem of quadrotor UAVs in complex environments, this paper proposes a fully actuated anti-disturbance motion control method based on a dynamic compensator and extended state observer. Compared to the traditional position-attitude dual-loop control architecture, this paper transforms the uncertain 6-DOF quadrotor model into a mixed-order fully actuated system model via state transformation, which facilitates the design of an integrated input-to-state controller. Secondly, this paper presents a composite control law based on a linear extended state observer. The inner loop consists of a linear extended state observer that accurately estimates unmeasurable states and unknown disturbances in real time, with active compensation via the composite control law. The outer loop employs a fully actuated controller combined with a dynamic compensator, providing additional degrees of freedom to enhance control precision, while the controller gain depends only on a single parameter, simplifying parameter tuning process. Simulation results demonstrate that the proposed method enables quadrotor UAVs to track spiral ascent trajectories with high precision, showing significant advantages in altitude and yaw angle control. The approach effectively addresses the anti-disturbance control problem of quadrotor UAVs and provides a systematic solution for trajectory tracking motion control.