@inproceedings{5676a5a08af24e4e99f1626757103ab8,
title = "Disturbance Observer Based Attitude Controller on SO(3) for Quadrotors",
abstract = "Due to the characteristics of nonlinearity, strong coupling and sensitive to disturbance in attitude control of quadrotor, a disturbance observer based attitude controller on SO(3) is proposed, which can estimate and compensate the disturbances. The stability of the system was proved by using the lyapunov stability theory. The simulation and experiment results demonstrate that the designed method can improve the attitude precision and responses in the presence of a relatively high perturbation.",
keywords = "Attitude controller, Disturbance observer, Quadrotor, Space of SO(3)",
author = "He Zhang and Cunxiao Miao and Yuanjin Yu and Xiaoqiang Yan",
note = "Publisher Copyright: {\textcopyright} 2022, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; International Conference on Guidance, Navigation and Control, ICGNC 2020 ; Conference date: 23-10-2020 Through 25-10-2020",
year = "2022",
doi = "10.1007/978-981-15-8155-7_449",
language = "English",
isbn = "9789811581540",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "5439--5448",
editor = "Liang Yan and Haibin Duan and Xiang Yu",
booktitle = "Advances in Guidance, Navigation and Control - Proceedings of 2020 International Conference on Guidance, Navigation and Control, ICGNC 2020",
address = "Germany",
}