Robust Discrete-Time Nonlinear Attitude Stabilization of a Quadrotor UAV Subject to Time-Varying Disturbances

Adiguzel F., Mumcu T. V.

ELEKTRONIKA IR ELEKTROTECHNIKA, vol.27, no.4, pp.4-12, 2021 (SCI-Expanded) identifier identifier

  • Publication Type: Article / Article
  • Volume: 27 Issue: 4
  • Publication Date: 2021
  • Doi Number: 10.5755/j02.eie.28916
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus, Aerospace Database, Applied Science & Technology Source, Central & Eastern European Academic Source (CEEAS), Communication Abstracts, Computer & Applied Sciences, INSPEC, Metadex, Directory of Open Access Journals, Civil Engineering Abstracts
  • Page Numbers: pp.4-12
  • Keywords: Discrete-time control, Nonlinear disturbance observer, Digital filter, Input-Output linearization, TRACKING, LINEARIZATION, DESIGN
  • Yıldız Technical University Affiliated: No


A discrete-time improved input/output linearization controller based on a nonlinear disturbance observer is considered to secure the stability of a four-rotor unmanned aerial vehicle under constant and time-varying disturbances, as well as uncertain system parameters for its attitude behaviour. Due to the nature of the quadrotor system, it contains the most extreme high level of nonlinearities, system parameter uncertainties (perturbations), and it has to cope with external disturbances that change over time. In this context, an offset-less tracking for the quadrotor system is provided with the input/output linearization controller together with a discrete-time pre-controller. In addition, the robustness of the system is increased with a discrete-time nonlinear disturbance observer for time-varying disturbances affecting the system. The main contribution of this study is to provide highly nonlinearities cancellation to guarantee the aircraft attitude stability and to propose a robust control structure in discrete-time, considering all uncertainties. Various simulation studies have been carried out to illustrate the robustness and effectiveness of the proposed controller structure.