The control system of six rotor aircraft has characteristics of less driving

strong coupling and nonlinear

aiming at the problem that attitude control in the control system is easily to be affected by the changes of inner parameters of system and interference of external unknown condition

a control method of disturbance observer based on exponential convergence is proposed. In order to improve the response speed and robustness of the system

combine the disturbance observer with the adaptive sliding mode controller

and use the boundary layer method to reduce the chattering of the control system. The Lyapunov stability theorem proves that the control system of the aircraft is stable and exponentially convergent. The simulation results show that compared with the traditional disturbance observer

the designed controller has faster response speed to the attitude control of the six rotor UAV

and improves the ability of disturbance suppression and system stability.