Effects of unmodelled dynamic factors on an under-actuated quadrotor: A review of hybrid observer design methods

Abstract

Unmodelled dynamic factors are either the left-over or the estimated factors such as lower or upper bound values while modelling any mechatronic system. Hence, with the inclusion of under-actuation in a system such as fewer number of actuators as compared to degrees of freedom, this will lead the system to high instability. These factors are changing instantly during multiple flights of quadrotor that is, the values of these factors in path following may vary from the values in hovering mode. Hence, it is one of the strenuous tasks to tackle these unmodelled dynamic factors for the multiple flight modes of an underactuated quadrotor craft. One of the better ways for tracking control of a quadrotor aerial vehicle with unmodelled dynamics is to observe and estimate the instant change in parameters. Thus, this paper exhibits an extensive review of several hybrid observer design methods being fused with some novel control strategies. In addition to this, the survey paper also summarises the limitations of the current state of the art approaches. This paper demonstrates an unexplored field of study where researchers must need to evaluate the performance of hybrid observer design methods.