Trajectory robust control of autonomous quadcopters based on model decoupling and disturbance estimation

In this article, a systematic procedure is given for determining robust motion control law autonomous quadcopters, starting from an input–output linearizable model. particular, the suggested technique can be considered as feedback linearization (FL), where nonlinear state-feedback terms, which contain aerodynamic forces and moments other unknown disturbances, are estimated online by means of extended state observers. Therefore, system made against unmodelled dynamics endogenous well exogenous disturbances. The desired closed-loop obtained pole assignment. To have feasible action, that is, produced motors belong to admissible set forces, suitable reference signals generated differentiators supplied trajectory. proposed algorithm tested simulation experiments on Raspberry-PI board hardware-in-the-loop method, showing effectiveness approach. Moreover, it compared with standard FL above terms computed using nominal parameters aerodynamical disturbances neglected. comparison shows based estimation gives better static dynamic behaviour over method.