Robust control of a quad-rotor aerial vehicle

Issue title: ICMIT '01

Article type: Research Article

Authors: Suh, Young Soo^a

Affiliations: [a] Department of Electrical Engineering, University of Ulsan, Namgu, Ulsan, 680-749, Korea. Tel./Fax: +82 52 259 2196; E-mail: [email protected]

Abstract: This paper is concerned with robust control of a quad-rotor aerial vehicle attitudes (pitch, roll, yaw). Attitudes of the quad-rotor vehicle is affected by various sources of disturbances such as wind and ground effect. In this paper, we propose a new disturbance observer so that these disturbances are estimated and compensated by the disturbance observer. It is shown by simulations that the proposed disturbance observer effectively compensates disturbances.

DOI: 10.3233/JAE-2003-278

Journal: International Journal of Applied Electromagnetics and Mechanics, vol. 18, no. 1-3, pp. 103-114, 2003