Disturbance Rejection Attitude Control for a Quadrotor: Theory and Experiment

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/ijae/volume-2021/8850071/figures/8850071.fig.0016a.svgz" name="8850071.fig.0016a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Roll controller response</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/ijae/volume-2021/8850071/figures/8850071.fig.0016b.svgz" name="8850071.fig.0016b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Pitch controller response</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/ijae/volume-2021/8850071/figures/8850071.fig.0016c.svgz" name="8850071.fig.0016c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Yaw controller response</td></tr></table>

<div>Control torques in the experiment.</div>

International Journal of Aerospace Engineering

fig16

Figure 16

Figure 16: Disturbance Rejection Attitude Control for a Quadrotor: Theory and Experiment 