Extended-Order High-Gain Observer-Based Feedback Control Law for Tracking the Longitudinal Dynamics of a Mini UAV

Journal of control, automation and electrical systems

article

Hussain, Sajjad¹  Malik, Fahad Mumtaz¹ 

[1] Depaertment of Electrical Engineering, College of Electrical and Mechanical Engineering, National University of Sciences and Technology

关键词: Unmanned aerial vehicles;    Longitudinal dynamics;    Dynamic extension;    Disturbance estimation;    Extended-order high-gain observer;   

DOI  :  10.1007/s40313-019-00535-1

学科分类：自动化工程

来源: Springer

【 摘 要 】

The paper presents extended-order high-gain observer (EHGO)-based robust control design for longitudinal dynamics of a mini UAV. The multi-input, multi-output nonlinear dynamic model of the UAV is transformed by dynamic extension to achieve well-defined relative degree. State feedback linearization control is then designed for the transformed model. The system states and uncertainties are estimated by EHGO. Simulations of the closed-loop system with the proposed control methodology exhibit robustness to perturbations. Performance comparison of feedback linearizing control with state feedback, high-gain observer-based control and EHGO-based control in the presence of perturbations is also presented.

【 授权许可】

CC BY