Feedback linearization and high order sliding mode observer for a quadrotor UAV

In this paper, a feedback linearization-based controller with a high order sliding mode observer running parallel is applied to a quadrotor unmanned aerial vehicle. The high order sliding mode observer works as an observer and estimator of the effect of the external disturbances such as wind and noise. The whole observer-estimator-control law constitutes an original approach to the vehicle regulation with minimal number of sensors. Performance issues of the controller-observer are illustrated in a simulation study that takes into account parameter uncertainties and external disturbances