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arXiv · 2605.14945

Robust Quadcopter Motion Control Using Output Feedback

Stanislav Kim·Anton Pyrkin·Oleg Borisov
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Abstract

The study addresses the problem of quadcopter motion control using output feedback. By applying a geometric approach, the quadcopter model is transformed into a normal form with a time-varying gain coefficient, which is subsequently made stationary through double integration of the control input. A robust output feedback control law is synthesised based on the extended observer method.

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Stanislav Kim, Anton Pyrkin, Oleg Borisov. 2026-05-14. Robust Quadcopter Motion Control Using Output Feedback. https://arxiv.org/abs/2605.14945

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