Disturbance Observer-Based Backstepping Control of Tail-Sitter UAVs

The application scope of unmanned aerial vehicles (UAVs) is increasing along with commensurate advancements in performance. hybrid quadrotor vertical takeoff and landing (VTOL) UAV has the benefits both rotary-wing aircraft fixed-wing aircraft. However, vehicle requires a robust controller for takeoff, landing, transition, hovering modes because aerodynamic parameters differ those modes. We consider nonlinear observer-based backstepping control design provide stability analysis handling parameter variations external disturbances. carry out simulations MATLAB Simulink which show that observer contributes more to robustness overall closed-loop stability, considering disturbances phases. capable decent trajectory-tracking during transition from level flight vice versa nominal altitude drop.