Disturbance Observer-Based Robust Control of a Quadrotor Subject to Parametric Uncertainties and Wind Disturbance

• Published in: IEEE access Vol. 10; pp. 7554 - 7565
• Main Authors: Benevides, Joao R. S., Paiva, Marlon A. D., Simplicio, Paulo V. G., Inoue, Roberto S., Terra, Marco H.
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 2022; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Attenuation; Comparative studies; Controllers; Disturbance attenuation; Disturbance observers; estimation; Feedback linearization; filtering; Kalman filters; Linear quadratic regulator; Proportional integral derivative; quadrotor; Robust control; State space models; Tracking errors; Tracking problem; Trajectory; Trajectory tracking; Uncertainty

We propose a disturbance observer-based controller to deal with the trajectory tracking problem of a quadrotor subject to parametric uncertainties and wind disturbance. The design is based on the combination of a recursive robust linear-quadratic regulator and a Kalman filter. Robust regulation deal...