A composite controller based on nonlinear H_∞ and nonlinear disturbance observer for attitude stabilization of a flying robot

<span>In this article a novel composite control technique is introduced. We added nonlinear disturbance observer to H_∞ form controller. The quadrotor kinematics and dynamics formulated using euler angles parameters. After that, robust controller developed for flying robot attitude the outdoor conditions. Because under these conditions robot, experiences both external parametric uncertainty. Stability analysis also presented show global asymptotical stability Lyapunov function. simulation results showed that suggested had better performance in comparison with scheme.</span>