Abstract
In this paper, we propose a tracking controller for quad-rotors suspended a flexible cable. The quad-rotor helicopter cannot fly for a long time, because of its battery limit. The quadrotor helicopter is described by a set of nonlinear equations, which make it difficult to control. The first contribution in this paper is to present a new disturbance observer to estimate online both the tension of the cable and unknown disturbances applied to dynamics. The second one is to propose a new exact linearisation method which reduces the nonlinear closed-loop system to a linear controllable state equation by changing coordinates in the state-space. By using the linearisation, a new tracking controller based on the disturbance observer is presented for obtaining asymptotically rejection against unknown constant disturbances.
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