Disturbance suppression for quadrotor UAV using sliding-mode-observer-based equivalent-input-disturbance approach

• DOI: 10.1016/j.isatra.2019.02.028
• Publication Date: 2019-02-27T10:28:49Z
• Authors: Wenjing Cai; Jinhua She; Min Wu; Yasuhiro Ohyama
• Keywords: Mode (computer interface); Observer (physics)

This paper presents a new control scheme for quadrotor unmanned aerial vehicle attitude control and disturbance suppression. A quadrotor dynamic model is divided into two subsystems: fully-actuated and under-actuated. While the PID method is used to control the fully-actuated subsystem, a sliding-mode-observer-based equivalent-input-disturbance approach is used to control the under-actuated subsystem. The system design is simple, and it is globally uniformly ultimately bounded. Simulations and comparisons demonstrate the effectiveness of the method.