ABSTRACT
This paper studies the attitude tracking control problem of the Quadrotor UAV. Considering that the quadrotor usually suffers external disturbances during practical missions, an Extended State Observer (ESO) is introduced to improve the accuracy and robustness of the attitude controller. And the stability analysis shows that the estimation error is convergent. Then the non-linear MIM0 system was transformed into linear SISO system by the dynamic feedback. Finally, the effectiveness and the better characteristics of the strategy are illustrated by the simulation results, which lay a solid base for the engineering application.
