Exact linearization and sliding mode observer for a quadrotor unmanned aerial vehicle

被引：0
|
作者：
Mokhtari, A. [1 ,5 ]
Benallegue, A. [2 ,3 ,6 ]
Orlov, Y. [4 ,7 ]
机构：
[1] Laboratory of Robotics of Versailles, France
[2] Department of Automatic Control and Robotics, University of Versailles, France
[3] National Center of Scientific Research, France
[4] Mexican Scientific Research and Advanced Studies Center (CICESE), Ensanada, Mexico
[5] University of Science and Technology Oran, Algeria
[6] Laboratoire de Robotique de Versailles, 12 avenue de l'europe, 78140 Velizy, France
[7] Mexican Scientific Research and Advanced Studies Center of Ensenada, Mexico
来源：
International Journal of Robotics and Automation | 2006年 / 21卷 / 01期
关键词：
In this paper; a feedback linearization-based controller with a sliding mode observer running parallel is applied to a quadrotor unmanned aerial vehicle. An adaptive estimator is added to the overall system to estimate the effect of external disturbances such as wind. The whole observer-estimator- control law constitutes an original approach to vehicle regulation with minimal number of sensors. Performance issues of the controller are illustrated in a simulation study that takes into account parameter uncertainties and external disturbances as well as measurement noise;
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摘要：
Journal article (JA)
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页码：39 / 49
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