Adaptive compensation control of the quadrotor helicopter using quantum information technology and disturbance observer

In this paper, an adaptive compensation control scheme is developed via disturbance observer and quantum information technology for the four-rotor helicopter, which can handle the control problems of helicopterʹs attitude with the unknown actuator failures and external disturbance effectively. Both the digital simulations and the semi-physical simulations in a Quanser 3-DOF hover platform illustrate the effectiveness of the proposed compensation control scheme.