...Mustafa Mohammed Mustafa Mustafa Purpose We propose a command-filter backstepping controller that integrates a disturbance observer (DO) and a high-gain observer (HGO) to handle unknown internal and external disturbances acting on a quadrotor. Design/methodology/approach To build...

... control (SMC) and backstepping control (BSC). The phase difference phenomenon is improved by adjusting the input of the BSC technique based on a proportional-integral (PI) controller, whose parameters are optimally calculated by a genetic algorithm (GA). This new combination produces a robustly stable...