Robust Tracking Controller for Quadrotor Based on Flatness and High Gain Observer

This paper proposes a robust tracking controller based on the state estimation for a quadrotor. Using the differential flatness theory, it is demonstrated that the quadrotor model can be changed to a linearized form which facilitate the creation of a state feedback controller. Since some state vectors of the obtained linearized model cannot be measured directly, a high gain observer is implemented to estimate them. After that, utilizing the...