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

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...

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Bibliographic Details
Published in:Journal of control, automation & electrical systems automation & electrical systems, 2020-02, Vol.31 (1), p.10-20
Main Authors: Hussain, Sajjad, Malik, Fahad Mumtaz
Format: Article
Language:English
Subjects:
Computer simulation
Control
Control and Systems Theory
Control systems
Control theory
Dynamic models
Dynamical systems
Electrical Engineering
Engineering
Feedback control
Feedback linearization
Mechatronics
Nonlinear dynamics
Robotics
Robotics and Automation
Robust control
State feedback
Tracking control
Unmanned aerial vehicles
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Summary: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.
ISSN:2195-3880
2195-3899
DOI:10.1007/s40313-019-00535-1