Nonlinear observer, and PI-backstepping controller for unmanned aerial vehicle type quadrotor
by Larbi Mohamed Elamine; Kadda Zemalache Meguenni; Meddahi Youssouf; Litim Mustapha
International Journal of Industrial Electronics and Drives (IJIED), Vol. 1, No. 4, 2014

Abstract: In this paper the design of nonlinear observer based on backstepping controller with an integral action approach, is developed respectively in order to synthesise tracking and observer errors and to ensure Lyapunov stability. Under the inertial coordinates and yaw angle are available for measurement, a high gain observer is designed which allows estimating the roll and pitching angles as well as all the linear and angular velocities of the vehicle. The effectiveness of this strategy has been successfully confirmed through computer simulation in terms of the reference tracking ability and the robustness against external disturbance (wind), to guarantee the desired tracking trajectories.

Online publication date: Sat, 20-Dec-2014

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