期刊论文详细信息
Journal of control, automation and electrical systems | |
Extended-Order High-Gain Observer-Based Feedback Control Law for Tracking the Longitudinal Dynamics of a Mini UAV | |
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
【 预 览 】
Files | Size | Format | View |
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RO202108090001108ZK.pdf | 2099KB | download |