Enhanced trajectory tracking for quadrotors: disturbance observer state feedback control
Siyu Ren,
Liuping Wang,
Robin Ping Guan
Abstract:This study investigates the dynamics and trajectory tracking of quadcopters by utilizing the Disturbance Observer-based Control (DOBC) algorithm. The quadcopter’s dynamic model, which consists of six degrees of freedom, includes both disturbances and uncertainties in the model. The DOBC approach incorporates the disturbance model into the system by introducing it at the input variables. It then compensates for disturbances to achieve accurate tracking of different reference trajectories. The simulated trajecto… Show more
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