Binary observers based control for quadrotor unmanned aerial vehicle with disturbances and measurement delay

This paper presents a binary observers based linearization feedback sliding mode controller for quadrotor subjected to disturbances and measurement delay. The quadrotor unmanned aerial vehicle is divided into two subsystems, i.e. rotational subsystem and translational subsystem. Disturbance observer based controller is proposed for the former sensitive to disturbances, and binary observers based one for the latter subjected to both disturbances and measurement delay. Binary observers, consisting of disturbance observer and delayed output observer with their interactions being considered, promise exponential convergences of estimations on disturbance and output to their real values, which are compensated in the feedback control loop. The stabilities of the closed-loop subsystems are demonstrated based on Lyapunov theory. In the presence of both disturbances and measurement delay, simulations are carried out to corroborate the effectiveness and robustness of the proposed controller with superior control inputs.