Precise Trajectory Tracking of Multi-Rotor UAVs using Wind Disturbance Rejection Approach

Sheikh Izzal Azid, Sohail Ahmad Ali, Meshach Kumar, Maurizio Cirrincione, Adriano Fagiolini

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This paper discusses the resilience of the UAV quadrotor to wind disturbances. An unknown input-state observer is presented that uses the Lipschitz method to estimate the internal states and disturbances of the quadrotor and compensate for them by varying the velocities of the four rotors. The observer intends to use existing sensor measurements to estimate the unknown states of the quadrotor and reconstruct the three-dimensional wind disturbances. The estimated states and external disturbances are sent to the PD controller, which compensates for the disturbances to achieve the desired position and attitude, as well as robustness and accuracy. The Lipschitz observer was designed using the LMI approach, and the results were validated using Matlab/Simulink and using the Parrot Mambo mini quadrotor.

Original languageEnglish
Pages (from-to)91796-91806
Number of pages11
JournalIEEE Access
Publication statusPublished - 2023


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