Attitude tracking of aircraft based on disturbance rejection control

This paper studies the attitude tracking control problem of an aircraft. With the consideration of internal uncertainties of system and external disturbances, the controller proposed stabilizes the system to be uniformly ultimately bounded(UUB). Firstly, the error model of attitude tracking objective is established based on quaternion. Then, the control system is divided into inner loop of observer and outer loop of controller, respectively. The system model is compensated into the nominal one by a linear extended state observer(ESO). A controller is hence designed for the compensated system to achieve desired performance, whose UUB stability is proven by Lyapunov theorem. Meanwhile, the performance of linear ESO is analyzed in frequency domain. Experimental results show that the proposed control scheme can accomplish the task of attitude tracking successfully and effectively.