Attitude and Altitude Control for Quadrotor using Nonlinear Disturbance Observer (NDOB)

This dataset inludes a nonlinear disturbance observer(NDOB)-based controller for attitude and altitude control of a quadrotor. The NDOB is used to estimate and compensate disturbances that are imposed naturally on the quadrotor due to aerodynamics and parameter uncertainties. Itis demonstrated herein that theproposedobserver canestimateexternal disturbancesasymptotically. Subsequently, it is employed with an input-output feedback linearization (FBL) controller – rendered as a baseline controller – to achieve a composite controller capable of rejecting external disturbancesrigorously. The resulting controller iscompared with a FBL controller that is equipped with an integral component. Simulation results demonstrate a superior performance using the former controller for disturbance rejection.