Robust Motion Control of Nonlinear Quadrotor Model With Wind Disturbance Observer

This paper focuses on robust wind disturbance rejection for nonlinear quadrotor models. By leveraging unknown observer theory, it proposes a dynamic filter that, using sensors already on-board the aircraft, can estimate in real-time gust signals three dimensions. The is then treated as input to PD controller quick and flight pathway presence of disturbances. With this scheme, be precisely estimated online compensated real-time. Hence, successfully reach its desired attitude position. To show effective performance method, simulation results are presented Matlab/Simulink ROS-enabled Gazebo platform.