Robust Optimal Attitude Controller for MIMO Uncertain Hexarotor MAVs: Disturbance Observer-Based

<div>Case  2: aggressive mission. (a) and (b) show the attitude tracking responses and the attitude tracking errors, respectively, of the optimal LQR controller. The red dashed line in (a) represents the attitude reference signal.</div>

Mathematical Problems in Engineering

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Figure 11

Figure 11: Robust Optimal Attitude Controller for MIMO Uncertain Hexarotor MAVs: Disturbance Observer-Based 