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A novel disturbance observer (DOB)-based switching control strategy is proposed to achieve fast, smooth, and accurate control performance in the presence of both external disturbances and internal uncertainties. This methodology consists of two DOBs designed with different frequency responses, and the switching mechanism is designed meticulously to schedule different DOBs. To further study the DOB-based...
This paper studies an attitude tracking control system of a quadrotor unmanned aerial vehicle (UAV) under the condition of large-angle rotational maneuvers. We first established the attitude error model, taking both external disturbances and internal uncertainties into account. Thereafter, a switching control strategy is proposed for both high tracking accuracy and velocity constraints. Experiments...
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