The paper introduces an RCLF-QP controller with online adaptation and an extended state observer that maintains quadrotor stability under lumped disturbances and malicious cyberattacks where a baseline PD controller fails.
A general model- based extended state observer with built-in zero dynamics,
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Resilient Control Lyapunov Function-based Quadratic Program for Quadrotors Under Cyberattacks
The paper introduces an RCLF-QP controller with online adaptation and an extended state observer that maintains quadrotor stability under lumped disturbances and malicious cyberattacks where a baseline PD controller fails.