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This paper presents a simple design of a disturbance observer (DOB) for a quad-rotor system. To achieve robust attitude control of a quad-rotor system against disturbance, DOB is employed. Based on the conventional DOB structure, a proposal of simple modification allows an efficiency of calculation for estimating the disturbance term. The proposed DOB does not require the delayed calculation so that efforts of designing Q filter can be minimized. The effectiveness of the proposed DOB is evaluated through experimental studies of attitude control of a quad-rotor system.
Date of Conference: 17-21 Oct. 2012