Abstract
This paper presents a robust attitude tracking controller for quadrotors based on the nonlinear disturbance observer, which has been developed recently. The structural condition on the input gain matrix, which is not easy to check, is removed by factorizing it into two parts and modifying the disturbance observer structure. A constructive design procedure is provided and it is shown that the proposed controller recovers the performance of the nominal closed-loop system in the whole time horizon under parameter uncertainties and disturbance torques. The results are validated through simulations and compared with the feedback linearization design.
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