Dynamic Modeling and Control of Hexarotor UAVs Based on Extended State Observer

In this paper, a method for trajectory tracking control of hexarotor UAVs based on state expansion observer is proposed. The dynamic model of the hexarotor UAV is established by Newton-Euler's theorem. Because the underactuated and strong coupling characteristics of the hexarotor UAs V dynamics model, this paper proposes an adaptive nonlinear state feedback control method to design the controller. Considering that the system contains unknown parts and is affected by external disturbances, this paper designs a state expansion observer with high reliability to observe and suppress the disturbance parts. Then, based on the position and attitude errors of the hexarotor UAVs, the stability proof is carried out based on the Lyapunov stability theory. The effectiveness and superiority of the method proposed in this paper are verified by the comparative simulation.