This repository implements simulation of a quadrotor with different controllers and observers.
The inner-loop subsystem is controlled by a Dynamic Sliding Mode Controller (DSMC). The outer-loop subsystem is controller by a Fast Nonsingular Terminal SMC (FNTSMC).
Disturbances and uncertainties are all considered. Four kinds of observers are tested. 1. Appointed Fixed Time Observer (AFTO) 2. High-order Sliding Mode Observer (HSMO) 3. Nonlinear Extended State Observer (NESO) 4. Romberg Observer (RO)