SUMMARYIn 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-estimatorcontrol 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.

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In this paper, a mixed robust feedback linearization with linear GHo, controller is applied to a non linear quadrotor unmanned aerial vehicle. An actuator saturation and constrain on state space output are introduced to analyse the worst case of control law design.The results show that the overall system becomes robust when weighting functions are chosen judiciously . Performance issues of the controller are illustrated in a simulation study that takes into account parameter uncertainties and external disturbances as well as measurement noise.