Robust Observer Based Disturbance Rejection Control for Euler-Lagrange Systems

Table 1

Parameters of the quadrotor aircraft.

Parameter	Definition	Value	Error	Unit
	Coefficients of thrust	0.012	±0.003
	Coefficients of torque		±
	Density of air	1.184		Kg⋅
	Propeller’s disc area	0.0515	±0.002
	Propeller’s radius	0.128	±0.001
	Rotor displacement from the center	0.25	±0.01
	Rotational inertia of roll axis	0.014	±0.002	Kg⋅
	Rotational inertia of pitch axis	0.014	±0.002	Kg⋅
	Rotational inertia of yaw axis	0.024	±0.004	Kg⋅
	Basic rotational speed of the rotor	215	±5	rad/s