Four-rotor unmanned aerial vehicle attitude control method based on unknown system dynamics estimator

The invention provides a quadrotor unmanned aerial vehicle attitude control method based on an unknown system dynamics estimator. The quadrotor unmanned aerial vehicle attitude control method comprises the following steps: (1) constructing a mathematical model of a quadrotor unmanned aerial vehicle; and (2) constructing an unknown system dynamics estimator through direct filtering operation. And (3) based on accurate compensation and online parameter adaptive identification, designing a novel composite adaptive robust controller for attitude control of the quad-rotor unmanned aerial vehicle. According to the quadrotor unmanned aerial vehicle attitude control method provided by the invention, adaptive control and an unknown system dynamics estimator are effectively combined, additional uncertainty is solved, and an unknown inertia moment constant is identified by a tracking error driven adaptive law. Besides, through adaptive updating and simple disturbance observation, benefits can be made from independent pr