Paper Title
Robust Dynamic Sliding Mode Control Based Disturbance Observer for Quadcopter Unmanned Aerial Vehicle

Abstract
This paper presents a robust dynamic sliding mode control method using a nonlinear disturbance observer for an unmanned aerial vehicle. The introduced algorithm is used to provide a fast adaptation and strictly robust for the attitude control of the vehicle. First, a nonlinear disturbance observer (NDO) is applied to estimate the external disturbance. Second, a robust dynamic sliding mode controller (SMC) combined with the estimated values of perturbationto compensate for the effect of these perturbations on the system. The stability of a control system is proven by Lyapunov theory. A numerical simulation was performed and compared to recently methods demonstrating the robustness and effectiveness of the proposed method. Keywords - UAVs, Disturbance Observer, SMC, Quadcopter, Disturbance Elimination.