This paper proposes an output feedback control design for quadrotor Unmanned Aerial Vehicles (UAVs) to deal with unmeasured system states, system uncertainties, and external disturbances. Extended High-Gain Observers (EHGOs) are used to estimate the uncertainties and unmeasured system states. Dynamic inversion utilizes the estimates fromEHGOs in the second and third fastest time scales in order to deal with input uncertainties and a form of non-affine control inputs. In plant dynamics, rotational dynamics in the fourth fastest time scale, is forced to be faster than translational dynamics in the slowest time scale to overcome the lack of the number of control inputs in this underactuated mechanical system. Using the singular perturbation method, stability of the closed-loop system is conducted. Throughout numerical simulations, the proposed control algorithm is verified.
|Title of host publication||Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2|
|Subtitle of host publication||Hybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems|
|Publisher||American Society of Mechanical Engineers|
|Publication status||Published - 2015|
|Event||ASME 2015 Dynamic Systems and Control Conference, DSCC 2015 - Columbus, United States|
Duration: 2015 Oct 28 → 2015 Oct 30
|Name||ASME 2015 Dynamic Systems and Control Conference, DSCC 2015|
|Other||ASME 2015 Dynamic Systems and Control Conference, DSCC 2015|
|Period||15/10/28 → 15/10/30|
Bibliographical notePublisher Copyright:
Copyright © 2015 by ASME.
All Science Journal Classification (ASJC) codes
- Industrial and Manufacturing Engineering
- Mechanical Engineering
- Control and Systems Engineering