Vol. 64 | nr. 1 | Ianuarie - Martie 2016 Articolul 16

Disturbance Observer Based Approximate Linearization Control of Gun Launched MAV
(Full text in English)

Mohammed RIDA MOKHTARI, Amal CHOUKCHOU BRAHAM
Abstract
This paper presents an original control strategy based on the Extended State Observer (ESO) technique intergrated with approximate linearization to solve the problem of controlling position and orientation of a Gun Launched Micro Aerial Vehicle (GLMAV) subjected to unknown aerodynamic efforts. The ESO is designed and integrated with a Linear controller to achieve robustness. The ESO is employed to estimate the state and the unknown aerodynamic disturbances. Closed loop stability of the system is established. Numerical simulations are carried out and the results are presented to demonstrate efficiency of the proposed control strategy. 
Keywords: Micro aerial vehicle, Rotorcraft. Extended State Observer, Approximate Linearization, Lyapunov method

 

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