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As a stepping stone, two fixed-time extended state observers (ESOs) are proposed to estimate the external disturbances and\/or the parameter uncertainties for the position and attitude subsystems, respectively. Then, the fast terminal sliding mode-based improved dynamic surface control (DSC) approaches are developed. To eliminate the problem of \u201cexplosion of complexity\u201d inherent in backstepping method-based controllers, the finite-time command filters and an error compensation signals are used in the design of the dynamic surface controllers. Subsequently, the practically finite-time stability of the closed-loop tracking system is guaranteed by utilizing the proposed control scheme. The simulation results are obtained to demonstrate the effectiveness and fine performance of the proposed trajectory tracking control approaches.<\/jats:p>","DOI":"10.1177\/0142331220935710","type":"journal-article","created":{"date-parts":[[2020,7,10]],"date-time":"2020-07-10T03:21:41Z","timestamp":1594351301000},"page":"2956-2968","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":24,"title":["Extended state observer-based finite-time dynamic surface control for trajectory tracking of a quadrotor unmanned aerial vehicle"],"prefix":"10.1177","volume":"42","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9832-369X","authenticated-orcid":false,"given":"Bo","family":"Li","sequence":"first","affiliation":[{"name":"Institute of Logistics Science and Engineering, Shanghai Maritime University, 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