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

被引：0
|
作者：
Sajjad Hussain
Fahad Mumtaz Malik
机构：
[1] National University of Sciences and Technology,Depaertment of Electrical Engineering, College of Electrical and Mechanical Engineering
来源：
Journal of Control, Automation and Electrical Systems | 2020年 / 31卷
关键词：
Unmanned aerial vehicles; Longitudinal dynamics; Dynamic extension; Disturbance estimation; Extended-order high-gain observer;
D O I：
暂无
中图分类号：
学科分类号：
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.
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页码：10 / 20
页数：10
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