Prescribed performance control for a novel quadrotor based on the fully actuated system approach and an extended state observer

This paper addresses the prescribed performance control problem for a novel quadrotor subject to disturbances. Firstly, both the control allocation and tracking models for the novel quadrotor are established. Then, through state transformation, the tracking model is equivalently transformed into a fully actuated system (FAS) model with prescribed performance. A control scheme is proposed, which includes an extended state observer (ESO) for disturbance compensation and a prescribed performance controller based on the FAS approach. Finally, the effectiveness of the control scheme is verified through numerical simulations and physical experiments. The video of the physical experiments is available online at https://github.com/jindongyan/FAS.