Robust control with disturbance observer for UAV translational tracking
- Resource Type
- Conference
- Authors
- Rodriguez-Mata, A.; Lopez, R.; Martinez-Vasquez, A.; Salazar, S.; Osorio, A.; Lozano, R.
- Source
- 2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS) Research, Education and Development of Unmanned Aerial Systems (RED-UAS), 2015 Workshop on. :419-423 Nov, 2015
- Subject
- Aerospace
Communication, Networking and Broadcast Technologies
Transportation
Observers
Convergence
Stability analysis
Robust control
Robustness
Mathematical model
- Language
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.