An equivalent-input-disturbance (EID)-based control scheme combining with proportional-integral-derivative (PID) controllers is presented for quadrotor waypoint-tracking control and disturbance suppression. Four EID estimators are applied to suppress exogenous disturbances. Two PI controllers and two PD controllers are applied to accomplish tracking control. The exact linearization expends the stable region of the EID-based control system. This system is globally uniformly ultimately bounded. Simulations and comparisons demonstrate the effectiveness of the method.

中文翻译：

---

基于等效输入扰动方法的外源扰动四旋翼航点跟踪控制

提出了一种基于等效输入扰动（EID）的控制方案，并与比例积分微分（PID）控制器相结合，用于四旋翼航点跟踪控制和干扰抑制。四个EID估计器用于抑制外源干扰。应用两个PI控制器和两个PD控制器来完成跟踪控制。精确的线性化扩展了基于EID的控制系统的稳定区域。该系统在全球范围内统一最终有界。仿真和比较证明了该方法的有效性。