Year: 2025
Type: article
Abstract: As a classical disturbance observation method, the extended state observer (ESO) is commonly used in controllers for disturbance estimation and feedback control. However, the ESO relies mainly on input–output signals and does not fully utilize information from system derivatives and the system’s dynamic structure. This underuse limits its effectiveness for vertical take-off and landing (VTOL) uncrewed aerial vehicles (UAVs). This limitation is especially problematic in small tailless VTOL UAVs (ST-VTOL UAVs). While these UAVs can switch modes and operate in confined spaces, they are highly susceptible to disturbances such as wind. To address this issue, this paper applies a novel disturbance rejection controller to an ST-VTOL UAV. Specifically, the controller replaces the traditional linear ESO with an enhanced state compensation function observer (SCFO) and integrates it with an equivalent sliding mode controller (ESMC). Simulation results demonstrate that the SCFO achieves substantially higher disturbance-estimation accuracy than both the classical ESO and its fal–function–enhanced variant. Flight experiments on the ST-VTOL UAV confirm that the proposed method reduces tracking error compared with a conventional PID controller and maintains stable hovering under external disturbances.
Source: Drones
Authors: Jiahui Zhang, Jinwu Xiang, Daochun Li, Gang Yang, Weicheng Di, Ligang Zhang, Zhan Tu
Institutions: Beihang University, Tianmushan Laboratory
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $3,137
OpenAlex ID: W4417123602