Abstract The objective is to develop a control algorithm for quadrotors that guarantees a good compromise robustness/performance in presence of external disturbances. Thus, we investigate and apply a nominal model-based… Click to show full abstract
Abstract The objective is to develop a control algorithm for quadrotors that guarantees a good compromise robustness/performance in presence of external disturbances. Thus, we investigate and apply a nominal model-based control strategy doted by a robustness boosting mechanism. This latter, uses an Extended State-based Observer (ESO) to estimate the uncertainties and the various disturbances. The obtained controller is augmented by an additional input, which is derived via a sliding modes framework to handle the estimation errors and ensure asymptotic stability. The primary results are shown through numerical simulations.
               
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