@article { author = {Ghasemi, Kobra and Alizadeh, Ghasem}, title = {Control of Quadrotor Using Sliding Mode Disturbance Observer and Nonlinear H∞}, journal = {International Journal of Robotics, Theory and Applications}, volume = {4}, number = {1}, pages = {38-46}, year = {2015}, publisher = {K.N. Toosi University of Technology}, issn = {2008-7144}, eissn = {}, doi = {}, abstract = {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.}, keywords = {Disturbance Observer,Nonlinear H∞ Control,Sliding mode control,Quadrotor Helicopter}, url = {https://ijr.kntu.ac.ir/article_12496.html}, eprint = {https://ijr.kntu.ac.ir/article_12496_90601813885a23254cb41817db86767f.pdf} }