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Experimental studies of a disturbance observer for attitude control of a quad-rotor system

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2 Author(s)
Seung-Ho Jeong ; Dept. of Mechatron. Eng., Chungnam Nat. Univ., Daejeon, South Korea ; Seul Jung

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.

Published in:

Control, Automation and Systems (ICCAS), 2012 12th International Conference on

Date of Conference:

17-21 Oct. 2012