@conference {Salton:Eckhard:Flores:Fernandes:Azevedo:2016,
	title = {Disturbance observer and nonlinear damping control for fast tracking quadrotor vehicles},
	booktitle = {2016 IEEE Conference on Control Applications (CCA)},
	year = {2016},
	note = {n/a},
	month = {Sept},
	pages = {705{\textendash}710},
	publisher = {IEEE},
	organization = {IEEE},
	address = {Buenos Aires},
	abstract = {<p>This paper considers the design and implementation of a discrete-time fast tracking controller for quadrotor vehicles subject to perturbations. The proposed controller consists of a model-based disturbance observer and a Composite Nonlinear Feedback (CNF) controller. The CNF control law introduces nonlinear damping to the system so that it possesses a fast rise time without overshoot. The least square identification method is applied to develop a model based disturbance observer, thus decoupling the problems of track following and disturbance rejection. Experimental results are provided in order to validate the proposed approach.</p>
},
	keywords = {CNF controller, composite nonlinear feedback controller, control system synthesis, Control systems, damping, discrete time systems, discrete-time fast tracking controller design, disturbance rejection, fast tracking quadrotor vehicles, feedback, helicopters, least square identification method, least squares approximations, Mathematical model, model-based disturbance observer, nonlinear control systems, nonlinear damping control, observers, perturbation techniques, perturbations, Sensors, track following problems, Vehicle dynamics, Vehicles},
	doi = {10.1109/CCA.2016.7587901},
	author = {A. T. Salton and D. Eckhard and J. V. Flores and G. Fernandes and G. Azevedo}
}
