Controller design for a quadrotor based on high gain observer

In this paper, the controller design for quadrotor without velocity measurements is considered. This paper first presents a simple cascaded control design strategy to drive the quadrotor track the desirable commands. In order to obtain the velocities information, the high gain observer is used to estimate velocities based on the available measurements. With the velocity estimation result provided by the high gain observer, the proposed controller can be implemented. Finally, the simulation result of a quadrotor is given to demonstrate the effectiveness of the proposed control strategy.