This paper deals with the problem of estimating the disturbances due a wind gust in a Quadrotor rotorcraft. A linear observer with integral action for estimating the disturbance due a wind is presented. Simulation and real-time result are presented for test performance of control law proposed. The real-time test was ralized in hover fly mode based on GPS sensor signal.
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Martinez-Vasquez et al. (2015) studied this question.