KEYWORDS dynamic surface control (DSC), explosion of complexity, extended state observer (ESO), quadrotor unmanned aerial vehicle (UAV), unmeasurable velocity statesRecently, the control of a quadrotor unmanned aerial vehicle (UAV) has received considerable attention from the research community due to its significant characteristics in rapid maneuverability, precise hovering, and low-cost manufacturability with reduced mechanical complexity, thereby providing a well-suited mission platform for a variety of applications from military and civilian scenarios, including small-area monitoring, surveillance, detection in restricted terrains, and reconnaissance and mapping after disasters. [1][2][3] However, how to develop an effective robust flight controller that performs well in practice while ensuring asymptotic stability in theory is still a significant challenge because of the following essential reasons. 4 (i) The quadrotor UAV only 2700 Damping matrices = diag(k x ,k y ,k z ) = diag(0.01, 0.01, 0.01) Nms 2 = diag(k ,k ,k ) = diag(0.012, 0.012, 0.012) Nms 2 J Inertial matrix J = diag(J 1 ,J 2 ,J 3 ) = diag(0.016, 0.016, 0.016) kgm 2 l Distance from each rotor 0.4 m to the center of mass c Force-to-moment factor 0.05

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This paper proposed three methods to compensate the temperature energy influence drift of the MEMS vibration gyroscope, including radial basis function neural network (RBF NN), RBF NN based on genetic algorithm (GA), and RBF NN based on GA with Kalman filter (KF). Three-axis MEMS vibration gyroscope (Gyro X, Gyro Y, and Gyro Z) output data are compensated and analyzed in this paper. The experimental results proved the correctness of these three methods, and MEMS vibration gyroscope temperature energy influence drift is compensated effectively. The results indicate that, after RBF NN-GA-KF method compensation, the bias instability of Gyros X, Y, and Z improves from 139°/h, 154°/h, and 178°/h to 2.9°/h, 3.9°/h, and 1.6°/h, respectively. And the angle random walk of Gyros X, Y, and Z was improved from 3.03°/h1/2, 4.55°/h1/2, and 5.89°/h1/2to 1.58°/h1/2, 2.58°/h1/2, and 0.71°/h1/2, respectively, and the drift trend and noise characteristic are optimized obviously.

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