{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,6]],"date-time":"2025-11-06T12:13:07Z","timestamp":1762431187169,"version":"3.38.0"},"reference-count":17,"publisher":"SAGE Publications","issue":"9","license":[{"start":{"date-parts":[[2016,8,5]],"date-time":"2016-08-05T00:00:00Z","timestamp":1470355200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering"],"published-print":{"date-parts":[[2016,10]]},"abstract":"<jats:p> Feedback linearization is widely used for the purpose of quadrotor control. Unfortunately, feedback linearization is highly sensitive to any quadrotor model uncertainties. This paper provides feedback linearization-based control with robustness by integrating it with a disturbance observer. The proposed approach maintains the simplicity of the control structure without ignoring the high nonlinearities existing in the model by considering these nonlinearities as disturbances to be attenuated by the disturbance observer. Thus, the requirement to include complex high-order Lie derivatives in the controller is eliminated even in the presence of the high nonlinearities. Simulation results show that the proposed controller successfully force the quadrotor to follow the desired position and heading trajectories in the presence of different types of disturbances including ignored nonlinear dynamics, wind disturbances and partial actuator failure. <\/jats:p>","DOI":"10.1177\/0959651816656951","type":"journal-article","created":{"date-parts":[[2016,7,16]],"date-time":"2016-07-16T01:29:35Z","timestamp":1468632575000},"page":"877-891","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":30,"title":["Disturbance observer-based feedback linearization control of an unmanned quadrotor helicopter"],"prefix":"10.1177","volume":"230","author":[{"given":"Ahmed","family":"Aboudonia","sequence":"first","affiliation":[{"name":"Mechatronics Department, Faculty of Engineering and Material Science, German University in Cairo, Egypt"}]},{"given":"Ayman","family":"El-Badawy","sequence":"additional","affiliation":[{"name":"Mechanical Engineering Department, Al-Azhar University and German University in Cairo, Egypt"}]},{"given":"Ramy","family":"Rashad","sequence":"additional","affiliation":[{"name":"Mechatronics Department, Faculty of Engineering and Material Science, German University in Cairo, Egypt"}]}],"member":"179","published-online":{"date-parts":[[2016,8,5]]},"reference":[{"key":"bibr1-0959651816656951","first-page":"2359","volume-title":"Proceedings of the IEEE international conference on robotics and automation","volume":"3","author":"Mokhtari A"},{"key":"bibr2-0959651816656951","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta:20080002"},{"first-page":"371","volume-title":"Proceedings of the conference on control and fault-tolerant systems","author":"Zhou QL","key":"bibr3-0959651816656951"},{"first-page":"1","volume-title":"Proceedings of the IEEE international conference on mechatronics","author":"Voos I","key":"bibr4-0959651816656951"},{"key":"bibr5-0959651816656951","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-009-0311-8"},{"key":"bibr6-0959651816656951","volume-title":"Applied nonlinear control","volume":"199","author":"Slotine JJE","year":"1991"},{"first-page":"1198","volume-title":"International conference on intelligent robots and systems","author":"Mokhtari A","key":"bibr7-0959651816656951"},{"first-page":"365","volume-title":"International workshop on variable structure systems","author":"Benallegue A","key":"bibr8-0959651816656951"},{"first-page":"5230","volume-title":"Proceedings of the American control conference","author":"Besnard L","key":"bibr9-0959651816656951"},{"first-page":"1615","volume-title":"IECON 2010-36th Annual conference on IEEE industrial electronics society","author":"Hancer C","key":"bibr10-0959651816656951"},{"first-page":"568","volume-title":"Proceedings of the IEEE Chinese guidance, navigation and control conference","author":"Wang H","key":"bibr11-0959651816656951"},{"key":"bibr12-0959651816656951","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2010.02.008"},{"key":"bibr13-0959651816656951","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2012.2206474"},{"key":"bibr14-0959651816656951","first-page":"3184","volume-title":"Proceedings of 19th IFAC World congress","volume":"19","author":"Castaldi P"},{"volume-title":"AIAA infotech aerospace conference and AIAA unmanned unlimited conference","author":"Waslander SL","key":"bibr15-0959651816656951"},{"key":"bibr16-0959651816656951","unstructured":"Military Specification. 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