High-Order Disturbance Observer Based Attitude Control for a Quadrotor
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In this paper, a new high-order disturbance observer and its optimal gain matrix selection method for a quadrotor are proposed. In addition, based on the designed high-order disturbance observer, a dynamic surface controller for attitude control of the quadrotor subject to model uncertainties, unknown dynamics, and external disturbances is designed. The effectiveness of the proposed control method is verified through simulation.
