Attitude control for quadrotors subjected to wind disturbances via active disturbance rejection control and integral sliding mode control

In this paper, attitude control is investigated for a quadrotor subjected to wind disturbances based on a double closed-loop control strategy. The double closed-loop control strategy integrates advantages of active disturbance rejection control and integral sliding mode control. A nonlinear extended state observer is adopted in the inner loop to estimate internal uncertain dynamics and external wind disturbances timely for the quadrotor. Furthermore, both estimation errors of the nonlinear extended state observer and tracking errors of the double closed-loop control strategy are shown to be convergent through Lyapunov theory. Finally, experimental results are provided to demonstrate effectiveness of the proposed method.