Exact Linearization and Sliding Mode Observer for a Quadrotor Unmanned Aerial Vehicle

In this paper, a feedback linearization-based controller with a sliding mode observer running parallel is applied to a quadrotor unmanned aerial vehicle. An adaptive estimator is added to the overall system to estimate the effect of external disturbances such as wind. The whole observer-estimator-control law constitutes an original approach to vehicle regulation with minimal number of sensors. 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.