Discontinuous Active Disturbance Rejection Control of an Inverted Pendulum on a Quadrotor UAV

This article addresses the problem of the inverted pendulum in a quadrotor UAV. The inverted pendulum problem is a problem widely studied in control theory, the most studied problem being the classical inverted pendulum in a carriage. Unlike the classic problem, the quadrotor introduces one degree of uderactuation to the system due to the dynamics rotation of the quadrotor where it has the control input due to the torques generated by the motors and which allows the horizontal displacement of the system with respect to the inertial frame reference fixed in the earth, and also the vertical dynamics that allows the quadrotor to move in height with respect to the ground. However, the solution proposed in this article makes use of a Discontinuous Extended State Observer based on an Active Disturbance Rejection Control (DESO-ADRC) applied to the nonlinear model of the system to estimate endogenous or unknown exogenous disturbances induced to the system and compensate them in the feedback control.