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Robust control of UAV coaxial rotor by using exact feedback linearization and PI-observer

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Abstract

This paper presents a nonlinear trajectory tracking control design of a coaxial rotor unmanned aerial vehicle (UAV) using exact feedback linearization and PI-observer. Coaxial rotor disturbed dynamics is modelled by two equations of motion, one for translation and the other for the rotation. The exact feedback linearization is used to linearize the system in terms of input–output and the PI-observer is used to estimate vector state and unknown inputs of the system. The proposed control law guarantees convergence of the coaxial rotor UAV to a given reference trajectory in spite of disturbances. Numerical simulations are given to validate the obtained results.

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Authors and Affiliations

  1. Laboratory of Electronics Electrotechnics and Automatics, University of Ngaoundéré, Ngaoundéré, Cameroon

    Nkouagnou Calin Joel & Haman Djalo

  2. Laboratory of Mechanics of Complex Systems, University of Yaoundé1, Yaoundé, Cameroon

    Kenfack Jiotsa Aurelien

Authors
  1. Nkouagnou Calin Joel
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  2. Haman Djalo
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  3. Kenfack Jiotsa Aurelien
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Correspondence to Nkouagnou Calin Joel.

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Joel, N.C., Djalo, H. & Aurelien, K.J. Robust control of UAV coaxial rotor by using exact feedback linearization and PI-observer. Int. J. Dynam. Control 7, 201–208 (2019). https://doi.org/10.1007/s40435-018-0427-x

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  • DOI: https://doi.org/10.1007/s40435-018-0427-x

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