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This paper presents a simple method to boost the robustness of quadrotors intrajectory tracking. The presented method features a high-gain disturbanceobserver (HGDO) that provides disturbance estimates in real-time. The estimatesare then used in a trajectory control law to compensate for disturbanceeffects. We present theoretical convergence results showing that the proposedHGDO can quickly converge to an adjustable neighborhood of actual disturbancevalues. We will then integrate the disturbance estimates with a typical robusttrajectory controller, namely sliding mode control (SMC), and present Lyapunovstability analysis to establish the boundedness of trajectory tracking errors.However, our stability analysis can be easily extended to other Lyapunov-basedcontrollers to develop different HGDO-based controllers with formal stabilityguarantees. We evaluate the proposed HGDO-based control method using bothsimulation and laboratory experiments in various scenarios and in the presenceof external disturbances. Our results indicate that the addition of HGDO to aquadrotor trajectory controller can significantly improve the accuracy andprecision of trajectory tracking in the presence of external disturbances.

High-Gain Disturbance Observer for Robust Trajectory Tracking of Quadrotors