Disturbance observer-based attitude control for a quadrotor

This paper gives an disturbance observer-based attitude control method of a quadrotor Unmanned Aerial Vehicle (UAV) in the presence of large disturbance. Based on linear PID controller a disturbance observer is designed to estimate and compensate for the impact of internal/external disturbance simultaneously. After the disturbance observer is added, the attitude subsystem can overcome the strong coupling and external disturbance. Simulation results show that the controller is simple and effective which is able to ensure the stability of attitude and has strong robustness to disturbance.