Robust Control Design with Novel Extended Disturbance Observer for Quadrotor Vehicle

This paper proposes composite control scheme for attitude and altitude tracking of quadrotor using terminal sliding mode control strategy and a novel extended disturbance observer. A sliding manifold is synthesized based on the estimated output of extended disturbance observer that has strong ability of perfect estimation of exogenous disturbances. The observer offers a tool to vanish the effect of mismatched disturbances and the composite control algorithm devise swift adaptation and convergence of the flight control when subjected to exogenous perturbations. Moreover, wider class of disturbances are considered in this study and the effectiveness of the proposed control method is validated by the simulation results.