Disturbance Observer-based Optimal Backstepping Controller for an Attitude Quadrotor Helicopter

This paper proposes an optimal backstepping control-based bat algorithm (BA-OBC) scheme for the attitude of unmanned aerial vehicle with disturbance observer. The proposed controller offers an interesting designed strategy allowing the state trajectory to track a desired trajectory with disturbance observer combined with backstepping controller in order to guarantee the robustness of the proposed ...