Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely:  presents an acceleration control of a hexarotor unmanned aerial vehicle (UAV) in the earth-fixed frame with a disturbance observer (DOB). Unlike conventional cascade control structures where the outer-loop position controller generates the desired attitude command, the position controller in this paper generates the desired acceleration command in X, Y, Z axis of the earth-fixed frame. With acceleration control combined with DOB, the UAV could manage the lateral disturbance force that makes the trajectory tracking very challenging. This is a new concept compared with existing DOB-based UAV control approaches which aim to cancel the moment disturbance for precise attitude control. The small-gain theorem is used for stability analysis and Q-filter bandwidth design. Both simulation and actual experiment are shown to validate the performance of the proposed design.
['Seung Jae Lee', 'Suseong Kim', 'Karl Henrik Johansson', 'H. Jin Kim']
I am writing a research paper on a idea Robust acceleration control of a hexarotor UAV with a disturbance observer
[{"from": "human", "value": "I am writing a research paper on a idea Robust acceleration control of a hexarotor UAV with a disturbance observer"}, {"from": "gpt", "value": "Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely:  presents an acceleration control of a hexarotor unmanned aerial vehicle (UAV) in the earth-fixed frame with a disturbance observer (DOB). Unlike conventional cascade control structures where the outer-loop position controller generates the desired attitude command, the position controller in this paper generates the desired acceleration command in X, Y, Z axis of the earth-fixed frame. With acceleration control combined with DOB, the UAV could manage the lateral disturbance force that makes the trajectory tracking very challenging. This is a new concept compared with existing DOB-based UAV control approaches which aim to cancel the moment disturbance for precise attitude control. The small-gain theorem is used for stability analysis and Q-filter bandwidth design. Both simulation and actual experiment are shown to validate the performance of the proposed design."}]