Feedback linearization and linear observer for a quadrotor unmanned aerial vehicle

نویسندگان

  • Abdellah Mokhtari
  • Nacer K. M'Sirdi
  • K. Meghriche
  • Abdelkader Belaidi
چکیده

Performance and characteristics of a Luenberger observer, combined with a classical polynomial controller (based on an accurate model of the plant), are analyzed in this paper. The observer is shown efficient when dealing with bounded uncertainties, disturbances and noise. The analysis is based on the observer and tracking errors during transients and at steady state, and on the performance and robustness with respect to plant uncertainties. Estimation of wind parameters is added to reinforce the robustness. Simulation results are provided and output trajectories analyzed.

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عنوان ژورنال:
  • Advanced Robotics

دوره 20  شماره 

صفحات  -

تاریخ انتشار 2006