Cooperative Wind Disturbance Estimation by Multiple Drones in the Presence of Torque Disturbances

This paper deals with cooperative wind distur- bance estimation by multiple quadrotor drones. The authors have developed a cooperative wind disturbance estimation method combining the optimal control and adaptive control. However, only disturbances affecting translational motion have been considered and torque disturbances influencing rotational motion have not been taken into account. This paper addresses a cooperative disturbance estimation problem in a more realistic situation where torque disturbances exist as well. The two types of disturbances are estimated and compensated simultaneously. A disturbance estimator is designed based on the Lyapunov stability theory. Numerical simulations show the effectiveness of the proposed method and also indicate the necessity of si- multaneous estimation of translational disturbances and torque disturbances.