Adaptive Disturbance Rejection Control Design for Quadrotor UAV Based on High-Order Fully Actuated System Method

This paper proposes an adaptive disturbance rejection control design for quadrotors based on a high-order fully actuated (HOFA) system approach. To achieve the tracking of a preset reference trajectory under turbulence disturbances, the established 4-DOF quadrotor nonlinear systems is transformed into three HOFA subsystems using an improved HOFA method. An adaptive disturbance rejection controller is designed, and an augmented error model is constructed. The gradient descent method is used to obtain the corresponding adaptive law, which dynamically updates the parameters of the adaptive disturbance rejection controller. Simulations verify that, under the action of this controller, the quadrotor system exhibits good stability, disturbance suppression, and output asymptotic tracking capability.