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

Vahid Razmavar, Heidar Ali Talebi, Farzaneh Abdollahi


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


Quadrotor; attitude control; nonlinear disturbance observer; nonlinear H_∞ control; external disturbance; parametric uncertainty

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DOI: http://doi.org/10.11591/ijeecs.v22.i1.pp270-276


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The Indonesian Journal of Electrical Engineering and Computer Science (IJEECS)
p-ISSN: 2502-4752, e-ISSN: 2502-4760
This journal is published by the Institute of Advanced Engineering and Science (IAES) in collaboration with Intelektual Pustaka Media Utama (IPMU).

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