Direct position control of an octarotor unmanned vehicle under wind gust disturbance

In this paper we present the design of a direct position control law of an octarotor under the presence of wind gust. The nominal control law is designed on a Newton-Euler model using a feedback linearisation technique, where a double integral control law is chosen in order to decouple the controlled variables' dynamics. Then, the wind gust effect is attenuated through an additive correction term, which is based on disturbance observer. An exogenous system is considered in order to estimate the wind gust derivatives, and the overall closed loop boundedness is discussed. Numerical simulations are then reported in order to show the effectiveness of the control scheme, where the observer based technique is compared with the nominal one.