Attitude control of a quad-rotor system using an acceleration-based disturbance observer: An empirical approach

This paper presents the disturbance observer design for attitude control of a quad-rotor system. The quad-rotor system is approximated by an inertial system of which an acceleration term is dominant in dynamic behaviors. Acceleration-based disturbance observer (AbDOB) is designed to reject any disturbances for robust attitude control of the system. Acceleration is measured by a gyro sensor and used to estimate control input to estimate the disturbance. Then disturbance is cancelled with the estimated disturbance. Experimental studies are demonstrated to confirm the proposed control scheme.