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

<div>Case  3: aggressive mission. The estimated total disturbance (the blue line) and the external time-varying disturbance (the red dashed line).</div>

Mathematical Problems in Engineering

fig18

Figure 18

Figure 18: Robust Optimal Attitude Controller for MIMO Uncertain Hexarotor MAVs: Disturbance Observer-Based 