Abstract
In this paper, a Disturbance Observer Based Controller (DOBC) is designed for the quadrotor. Unmanned aerial vehicle control becomes more challenging because of its cross coupling and complex dynamics. In addition, external disturbances affecting the system leads to an unstable condition. A Disturbance Observer Based Controller (DOBC) can effectively solve this problem by the estimation and attenuation of external wind disturbances. This work focuses on a linear model of quadrotor aircraft system with external wind disturbances and its effect on the translational motion. A disturbance observer based controller is designed and implemented for the estimation and attenuation of the external disturbances. In addition to this an optimal controller is also designed to analyze the performance of DOBC. Finally MATLAB simulations are conducted to verify the presented approach.
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