Active Disturbance Rejection Attitude Control for a Dual Closed-Loop Quadrotor Under Gust Wind

In this brief, attitude control is investigated for a quadrotor under gust wind via a dual closed-loop control framework. In the dual closed-loop framework, active disturbance rejection control and proportional–derivative control are used in the inner and outer loops, respectively. The perturbations of gust wind are considered as dynamic disturbances, which are estimated by an extended state observer in the inner loop. Both convergence and stabilization are given for the extended state observer and the closed-loop system, respectively. Experimental results are given to show the effectiveness of the proposed method for quadrotors.