Modeling and Control for a Six-Rotor Aerial Vehicle

In this paper, we have derived the linear model of a six-rotor aerial vehicle and proposed a controller for hovering. Attitudes of the six-rotor vehicle are affected by various sources of disturbances such as wind, measurement noise and modeling uncertainty. For these reasons, we proposed a controller based on disturbance observer, which estimates and compensates disturbances. It is shown by simulation that the proposed controller effectively rejects disturbances.