# Actuator-Aware Observer Inputs for Cascaded ADRC of Quadrotors

- Source: arXiv cs.RO
- Published: 2026-11-02T05:00:00.000Z
- RoboHot: https://robohot.news/en/items/ftjsojxlqzkn6mh4ij2bxhdsb
- Original: https://arxiv.org/abs/2610.39126

## Summary

The paper proposes actuator-aware (AA) observer inputs: the altitude and attitude observers use limited virtual inputs filtered by an assumed rotor model and aligned with the measurement delay, while the horizontal observers use acceleration reconstructed from measured attitude.