Disturbance rejection for a Quadrotor aircraft through a robust control

This paper addresses the problem of designing and experimentally validating a nonlinear disturbance observer, focus on the attitude regulation control problem of a quad-rotor in presence of external disturbances. The proposed nonlinear observer scheme is based on the angular velocity measurements and the control inputs in order to compensate external disturbances. The stability analysis of the nonlinear observer scheme is proven via the use of Lyapunov theory. Finally, simulation and experimental results in a education platform are presented to show the effectiveness of the proposed nonlinear algorithm in presence of external disturbances.