Control Strategy of Unmanned Aerial Vehicle Based on Extended State Observer

Due to the influence of engine vibration, the output noise of the sensor of the aircraft is large. However, in order to achieve the fast estimation of the disturbance, the observer gain is relatively large, but this will greatly increase the noise. This is a contradiction. In this paper, a linear state observer is used, because its stability and tracking performance have been well demonstrated and analyzed, and the parameter adjustment and circuit implementation are very simple. The filter equation is added to the ESO and the bandwidth is changed to realize the fast estimation of the internal and external interference, and the effect of the noise is greatly reduced. Besides, in the aspect of changing the bandwidth of the observer, this paper uses the desired trajectory and the state observer to output the error of the two to determine the size of the bandwidth, and the bandwidth is expressed as the hyperbolic tangent function of the error. The simulation analysis shows that the ability to track signal can be enhanced by improving the order of ESO.