Attitude control for multi-rotor aircraft with output constraints

In this study, an attitude control method for multi-rotor aircraft with output constraints and various disturbances is presented. To prevent output constraints violation, a Barrier Lyapunov Function (BLF) is introduced and the controller is designed based on backstepping algorithm. To enhance the robustness of the system, a linear extended state observer (LESO) from linear active disturbance rejection control (LADRC) is employed to estimate the disturbances and compensate the impact. It is proved that the proposed control algorithm guarantees the tracking error converging to zero asymptotically. Finally, simulation experiments validate the effectiveness and superiority of the presented control method.