Robust Composite-Disturbance Observer Based Flight Control of Quadrotor Attitude

A composite disturbance observer based control (CDOBC) technique for a quadrotor attitude is presented in this paper. The structure of CDOBC consists of a robust equivalent controller constructed using adaptive backstepping sliding mode control (ABSSMC), disturbance observer (DO) and an auxiliary gain to combine controller and NDO. In order to construct the DO, it is assumed that the quadrotor attitude model is effected by unknown bounded disturbances. During the development of DO, a state estimator is also constructed to avoid the situation of lack of states availability. Hence, invoking state estimator in estimation criteria followed by combining it with control scheme through an auxiliary gain yields the desired CDOBC based on ABSSMC. To analyze the dynamic and steady state performance of the developed control scheme, a stability proof followed by the simulation study is presented. In addition, before concluding the effectiveness of developed CDOBC, a comparative analysis is conducted by developing CDOBC based on backstepping and adaptive sliding mode control methods.

Automated summary

The paper presents a composite disturbance observer based control (CDOBC) technique for quadrotor attitude, utilizing adaptive backstepping sliding mode control to construct a robust equivalent controller, combining controller and disturbance observer through an auxiliary gain. The developed CDOBC improves the dynamic and steady state performance of quadrotor flight by invoking a state estimator to overcome lack of states availability and combining it with the control scheme.