Disturbance Observer Based Tracking Control of Quadrotor With High-Order Disturbances

Abstract

In this paper, the flight control of an unmanned aerial vehicle (UAV), quadrotor, in the presence of high-order disturbances is presented. Since during flight, UAV faces enormous, and various kinds of disturbance, the effect of such disturbances becomes vital for consideration during the development of disturbance observer (DO) based tracking control scheme. To obtain the desired tracking performance, standard sliding mode control (SMC) method is utilized while for disturbance estimation, DO based on Simpson's approximation is developed and incorporated with SMC. Furthermore, in this paper, both matched and mismatched disturbances are considered. Hence, a matrix associated with disturbances is invoked in the system model. To show the effective and desired control performance of developed disturbance observer-based control (DOBC) scheme, extensive simulations are conducted, followed by presenting the results in the paper.

Keywords

• Disturbance observer
• high-order disturbances
• quadrotor
• sliding mode control
• tracking control