Robust Control of UAV with Disturbances and Uncertainty Estimation

In this work, a nonlinear estimator-based robust controller is designed for the position and yaw control of quadrotor with uncertainty estimation. This ensures tracking desired references in presence parameters variation external disturbances, making use high-order sliding mode (HOSM) estimators to estimate these perturbations that can be canceled by control, thus improving dynamic behavior controlled system. Its performance evaluated Simcenter Amesim based on physical models generated from experimental data co-simulation framework Matlab–Simulink used implement FPGA implementation. A challenging generic maneuver time-varying wind disturbances model considered.