Title: Nonlinear observer, and PI-backstepping controller for unmanned aerial vehicle type quadrotor

Authors: Larbi Mohamed Elamine; Kadda Zemalache Meguenni; Meddahi Youssouf; Litim Mustapha

Addresses: Department of Automatic, University of Sciences and Technology, Oran, Algeria ' Department of Automatic, University of Sciences and Technology, Oran, Algeria ' Department of Automatic, University of Sciences and Technology, Oran, Algeria ' Department of Automatic, University of Sciences and Technology, Oran, Algeria

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.

Keywords: nonlinear control; nonlinear observer; Lyapunov stability; high gain observer; quadrotors; industrial electronics; backstepping control; unmanned aerial vehicles; UAVs; roll angles; pitch angles; vehicle speed; simulation; tracking trajectories; controller design.

DOI: 10.1504/IJIED.2014.066214

International Journal of Industrial Electronics and Drives, 2014 Vol.1 No.4, pp.239 - 248

Received: 29 Mar 2014
Accepted: 08 Jun 2014
Published online: 20 Dec 2014 *

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