Anti-disturbance control methodology for attitude tracking of an UAV

This paper proposes an anti-disturbance control methodology for attitude tracking of an aircraft with both internal uncertainties and external disturbances. A novel disturbance observer, which consists a feedback linearizing compensator and a low-pass filter, is first proposed for nonlinear system to compensate the real system into a nominal model. The feedback compensator is introduced to linearize the nonlinear dynamics into a linear part disturbed by a equivalent disturbance, whereas the low-pass filter is employed to estimate the equivalent disturbances. Then, a state feedback controller is presented directly for the nominal model to acquire desired performance. The experiments on a quadrotor testbed is carried out to verify the effectiveness of the proposed method.