In this paper a disturbance observer-based integral backstepping nonlinear motion control for a multirotor unmanned aerial vehicle (UAV) is proposed. The closed-loop is proven globally exponentially stable for the complete UAV dynamics and constant disturbances. Software-in-the-loop (SITL) simulation is used to evaluate the performance of the proposed control on the open-source PX4 autopilot. The simulation results demonstrate the proposed method’s robustness and steady state error performance.


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    Titel :

    Disturbance Observer-Based Integral Backstepping Control for UAVs


    Beteiligte:
    Moeini, Amir (Autor:in) / Rafique, Muhammad Awais (Autor:in) / Xue, Zhijun (Autor:in) / Lynch, Alan F. (Autor:in) / Zhao, Qing (Autor:in)


    Erscheinungsdatum :

    2020-09-01


    Format / Umfang :

    1565699 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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