In this paper, a nonlinear model of the underactuated six degrees of freedom (6 DOF) quadrotor helicopter was derived based on the Newton-Euler formalism. A new nonlinear robust control strategy was proposed to solve the stabilizing and path following problems in presence of external disturbances and parametric uncertainties. The proposed control structure consist of a sliding mode control base...

Because the number of state variables in a reduced-order observer is less than the order n of S by the number m of (independent) observations, the reduced-order observer is parsimonious, often a desirable engineering quality. But, in addition, a reduced-order observer may have better properties than a full-order observer, especially with regard to robustness of a control system which uses an ob...

This paper presents a design procedure for a reduced-order observer-based controller dedicated to n-joint robot manipulators. It is assumed that only the joint angular positions are measured. The joint angular velocities are estimated via an exponential reduced-order observer. Two types of control laws based on this observer are studied: point-to-point control with gravity compensation and traj...

A robust control scheme is proposed for a class of systems with uncertainty and time delay based on disturbance observer technique. A disturbance observer is developed to estimate the disturbance generated by an exogenous system, and the design parameter of the disturbance observer is determined by solving linear matrix inequalities (LMIs). Based on the output of the disturbance observer, a rob...

n this paper, an observer-based adaptive fuzzy-neural control is presented for a class of nonlinear systems with unknown time delays. The state observer is first designed, and then the controller is designed via the adaptive fuzzy-neural control method based on observer states. Both the designed observer and controller are independent of time delays. Using an appropriate LyapunovKrasovskii func...