High-order sliding-mode observer for a quadrotor UAV

In this paper, a feedback linearization-based controller with a high-order sliding mode observer running parallel is applied to a quadrotor unmanned aerial vehicle. The high-order sliding mode observer works as an observer and estimator of the effect of the external disturbances such as wind and noise. The whole observer-estimator-control law constitutes an original approach to the vehicle regulation with minimal number of sensors. Performance issues of the controller-observer are illustrated in a simulation study that takes into account parameter uncertainties and external disturbances. Copyright (C) 2007 John Wiley & Sons, Ltd.