Attitude control for tilt-rotor hexacopters based on TVESO

Tilt-rotor hexacopters face significant challenges turbulence-induced uncertainties, strong nonlinear coupling. To improve attitude stability and control performance under complex wind conditions, this paper proposes an attitude control method combining a time-varying extended state observer (TVESO) and backstepping control. A non-stationary wind disturbance model is established, and the TVESO is designed for real-time estimation of external disturbances and system uncertainties. A first-order filter is used to prevent differential explosion in the control law. Simulation results show that the proposed method enhances disturbance rejection, attitude stabilization accuracy, and actuator availability, demonstrating its effectiveness for tilt rotor UAVs operating in turbulent wind fields.