This paper addresses the problem of designing and experimentally validating a nonlinear disturbance observer, focus on the attitude regulation control problem of a quad-rotor in presence of external disturbances. The proposed nonlinear observer scheme is based on the angular velocity measurements and the control inputs in order to compensate external disturbances. The stability analysis of the nonlinear observer scheme is proven via the use of Lyapunov theory. Finally, simulation and experimental results in a education platform are presented to show the effectiveness of the proposed nonlinear algorithm in presence of external disturbances.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Disturbance rejection for a Quadrotor aircraft through a robust control


    Contributors:


    Publication date :

    2015-06-01


    Size :

    1212292 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Robust error-based active disturbance rejection control of a quadrotor

    Lechekhab, Taki Eddine / Manojlovic, Stojadin / Stankovic, Momir et al. | Emerald Group Publishing | 2020



    Wind Disturbance Estimation and Rejection for Quadrotor Position Control

    Waslander, S. / Wang, C. / American Institute of Aeronautics and Astronautics | British Library Conference Proceedings | 2009



    Technology of Fuzzy Active Disturbance Rejection Control for Quadrotor UAV

    Zhu, Yuhu / Xu, Yong / Zhai, Kangrui et al. | IEEE | 2023