Extended-Order High-Gain Observer-Based Feedback Control Law for Tracking the Longitudinal Dynamics of a Mini UAV

[摘要] 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.

[学科分类] 自动化工程

[关键词] Unmanned aerial vehicles;Longitudinal dynamics;Dynamic extension;Disturbance estimation;Extended-order high-gain observer