Robust control with disturbance observer for UAV translational tracking

被引：0
|
作者：
Rodriguez-Mata, A. [1 ]
Lopez, R. [1 ]
Martinez-Vasquez, A. [1 ]
Salazar, S. [1 ]
Osorio, A. [1 ]
Lozano, R. [1 ]
机构：
[1] CINVESTAV IPN, UMI LAFMIA CNRS 3175, Ave IPN 2508 San Pedro Zacatenco, Mexico City 07360, DF, Mexico
来源：
2015 WORKSHOP ON RESEARCH, EDUCATION AND DEVELOPMENT OF UNMANNED AERIAL SYSTEMS (RED-UAS) | 2015年
关键词：
ADAPTIVE OBSERVERS;
D O I：
暂无
中图分类号：
V [航空、航天];
学科分类号：
08 ; 0825 ;
摘要：
An integral robust observer with rejection control disturbance is proposed in this paper. The design of the observer is performed employing the canonical obervable model of the original non-linear system, obtained by a change of coordinates. A practical stability is proved using the Lyapunov approach with using a high gain to maintain the solution in a convergence ball. Several simulations cases are carried out to illustrate the performance of the closed-loop system in a disturbance wind prepense. In other cases, noise in the states are added to emulate a real system.
引用
收藏
页码：419 / 423
页数：5
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