Discontinuous High-Gain Observer in a Robust Control UAV Quadrotor: Real-Time Application for Watershed Monitoring
نویسندگان
چکیده
منابع مشابه
Gain-Scheduled Control of a Quadrotor UAV
In this thesis we develop a gain-scheduled control law for the quadcopter unmanned aerial vehicle (UAV). Techniques from linear control theory are introduced and used to construct adaptive proportional and proportional-integral control laws for use with both state and observer-based output feedback. The controller monitors the yaw angle of the quadcopter and updates a gain matrix as the system ...
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In this paper, a robust tracking control method for automatic take-off and trajectory tracking of a quadrotor helicopter is presented. The designed controller includes two parts: a position controller and an attitude controller. The attitude controller is designed by using the sliding mode control (SMC) method to track the desired pitch and roll angles, which are the output of position controll...
متن کاملrobust control of a quadrotor
in this paper, a robust tracking control method for automatic take-off and trajectory tracking of a quadrotor helicopter is presented. the designed controller includes two parts: a position controller and an attitude controller. the attitude controller is designed by using the sliding mode control (smc) method to track the desired pitch and roll angles, which are the output of position controll...
متن کاملGuidance and Control Laws for Quadrotor UAV
Abstract In this literature, guidance and control laws using a basic control system have been proposed for analyses and designs of a Quadrotor. The basic control system includes: (a)height Control system using velocity stabilizing in the inner loop; (b)roll, pitch and yaw attitude control systems using angular rate stabilizing in inner loops. Base upon the basic control system, the B X and B Y ...
متن کاملA High Gain Observer and Sliding Mode Controller for an Autonomous Quadrotor Helicopter
This paper deals with the design of a high gain observer and sliding mode controller for a remotely controlled quadrotor vertical take off and landing aircraft. Under the restriction that only the inertial coordinates and yaw angle are available for measurement, a high gain observer is designed which allows estimating on-line the roll and pitching angles as well as all the linear and angular ve...
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ژورنال
عنوان ژورنال: Mathematical Problems in Engineering
سال: 2018
ISSN: 1024-123X,1563-5147
DOI: 10.1155/2018/4940360