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Output Feedback Control for a Quadrotor Aircraft Using an Adaptive High Gain Observer

Gerardo Flores, V. González-Huitron, and A. E. Rodríguez-Mata*
International Journal of Control, Automation, and Systems, vol. 18, no. 6, pp.1474-1486, 2020

Abstract : This paper addresses the problem of quadrotor control under unknown and time-varying disturbances. It is assumed that such disturbances affect the entire quadrotor’s dynamics, i.e., in attitude and position. To stabilize the quadrotor, we propose an output-feedback control approach, in which we implement a Backstepping control together with an Adaptive High Gain Observer to estimate disturbances. The stability of the closed-loop system is proved via the Lyapunov theory. Furthermore, the effectiveness of the methodology is illustrated through numerical simulations and experiments.

Keyword : Disturbance estimation, Lyapunov methods, nonlinear observer, output-feedback control, quadrotor, state estimator, UAV.

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