Abstract
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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Hussain, S., Malik, F.M. Extended-Order High-Gain Observer-Based Feedback Control Law for Tracking the Longitudinal Dynamics of a Mini UAV. J Control Autom Electr Syst 31, 10–20 (2020). https://doi.org/10.1007/s40313-019-00535-1
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DOI: https://doi.org/10.1007/s40313-019-00535-1