Output feedback control design for quadrotors in the presence of uncertainties

Joonho Lee, Jongeun Choi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)


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.

Original languageEnglish
Title of host publicationAdaptive 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 publicationHybrid 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
PublisherAmerican Society of Mechanical Engineers
ISBN (Electronic)9780791857243
Publication statusPublished - 2015
EventASME 2015 Dynamic Systems and Control Conference, DSCC 2015 - Columbus, United States
Duration: 2015 Oct 282015 Oct 30

Publication series

NameASME 2015 Dynamic Systems and Control Conference, DSCC 2015


OtherASME 2015 Dynamic Systems and Control Conference, DSCC 2015
Country/TerritoryUnited States

Bibliographical note

Publisher Copyright:
Copyright © 2015 by ASME.

All Science Journal Classification (ASJC) codes

  • Industrial and Manufacturing Engineering
  • Mechanical Engineering
  • Control and Systems Engineering


Dive into the research topics of 'Output feedback control design for quadrotors in the presence of uncertainties'. Together they form a unique fingerprint.

Cite this