@inproceedings{eafb5918b9e74ea896ebcf082f724ad3,
title = "Nonlinear disturbance observer-based control for quadrotor UAV",
abstract = "Recently, the control problem of a quadrotor unmanned aerial vehicle (UAV) has been undergoing massive research. In this paper, a nonlinear disturbance observer-based (NDO) controller is proposed for attitude and altitude control of a quadrotor, in order to estimate and compensate disturbances that are imposed naturally on the quadrotor due to aerodynamics and parameter uncertainties. It is demonstrated herein that the proposed observer can estimate external disturbances asymptotically. Subsequently, it is employed with an input-output feedback linearization (FBL) controller - rendered as a baseline controller - to achieve a composite controller capable of rejecting external disturbances rigorously. The resulting controller is compared with a FBL controller that is equipped with an integral component. Simulation results demonstrate a superior performance using the former controller for disturbance rejection.",
keywords = "Aerodynamics, Control, Feedback Linearization, Observers, Quadrotor, Robotics, Unmanned Aerial Vehicle",
author = "Wesam Taha and Ahmed Al-Durra and Rachid Errouissi and Khaled Al-Wahedi",
note = "Funding Information: ACKNOWLEDGMENT This work has been supported in part by the Gas Processing & Materials Science Research Centre (GRC) at Khalifa University of Science and Technology, Abu Dhabi, UAE. Publisher Copyright: {\textcopyright} 2018 IEEE.; 44th Annual Conference of the IEEE Industrial Electronics Society, IECON 2018 ; Conference date: 20-10-2018 Through 23-10-2018",
year = "2018",
month = dec,
day = "26",
doi = "10.1109/IECON.2018.8591597",
language = "British English",
series = "Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "2589--2595",
booktitle = "Proceedings",
address = "United States",
}