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

<div>Case  3: hovering mission. (a) and (b) show the attitude tracking responses and the attitude tracking errors, respectively, of the proposed robust optimal controller. The red dashed line in (a) represents the attitude reference signal.</div>

Mathematical Problems in Engineering

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Figure 13

Figure 13: Robust Optimal Attitude Controller for MIMO Uncertain Hexarotor MAVs: Disturbance Observer-Based 