control of quadrotor using sliding mode disturbance observer and nonlinear h∞

in this paper, a nonlinear model of the underactuated six degrees of freedom (6 dof) quadrotor helicopter was derived based on the newton-euler formalism. a new nonlinear robust control strategy was proposed to solve the stabilizing and path following problems in presence of external disturbances and parametric uncertainties. the proposed control structure consist of a sliding mode control based on disturbance observer (smdo) to track the reference trajectory together with a nonlinear h∞ controller to stabilize the rotational movements. simulation results in the presence of aerodynamic disturbances and parametric uncertainties are presented to corroborate the effectiveness and the robustness of the proposed strategy.