Fixed-time extended disturbance observer-based switching control of quadrotor UAV under marine wind condition

In this paper, an observer-based switching control scheme is proposed for quadrotor unmanned aerial vehicle (UAV) against complex and variable marine wind. Firstly, dynamics model of quadrotor UAV along with marine wind field model is established. A fixed-time extended disturbance observer (FTEDO) is then developed to improve performance of active disturbance rejection control (ADRC) against strong wind disturbance, which is also further utilized to realize wind speed estimation simultaneously. Based on the estimated wind speed, switching mechanism is constructed for quadrotor UAV to select appropriate controller between traditional PID and FTEDO-based ADRC. Finally, effectiveness as well as performance of the proposed switching control strategy is verified by using comparative simulation tests.