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 Hâ 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.
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