In this chapter, we study the problem of joint states and external aerodynamic disturbances as well as the problem of adaptive estimation of quadrotor systems. We investigate two realistic configurations of the quadrotor system: in the first configuration, the dynamics of longitudinal and angular velocities are corrupted by unknown time varying disturbances and in the second one, the quadrotor system is subject to constant unknown parameters. For the two latter cases of study, only positions and angles are available for measurements. In particular, we focus on the problem observer matching condition which is necessary to solve both robust and adaptive estimation problems. The latter restrictive assumption is not verified for the quadrotor system. To overcome this problem, we adopt the approach of generation and estimation of auxiliary outputs based on high gain approximate differentiators. For the case of presence of time varying disturbances, we present a first order sliding mode observer in cascade with a high gain observer to reconstruct both the states and the unknown disturbances of the quadrotor system. For the case of presence of constant unknown parameters, we introduce an adaptive observer in cascade with the same high gain observer used in the first configuration to reconstruct both the states and the unknown parameters. Numerical simulations are depicted to illustrate the effectiveness and the good performances of the proposed robust and adaptive estimation approaches.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Robust and Adaptive State Estimation of UAV Quadrotors with a High Gain Approach


    Weitere Titelangaben:

    Studies in Systems, Decision and Control


    Beteiligte:
    Ghommam, Jawhar (Herausgeber:in) / Derbel, Nabil (Herausgeber:in) / Zhu, Quanmin (Herausgeber:in) / Dimassi, Habib (Autor:in) / Miladi, Nadia (Autor:in) / Said, Salim Hadj (Autor:in) / M’Sahli, Faouzi (Autor:in)


    Erscheinungsdatum :

    12.02.2020


    Format / Umfang :

    22 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





    Adaptive gain tuning for teleoperation of quadrotors

    Mghabghab, Serge / Elhajj, Imad H. / Asmar, Daniel | IEEE | 2016


    Robust output feedback trajectory tracking for quadrotors

    Shi, Xiling / Sun, Yunqiang / Shao, Xingling | SAGE Publications | 2019



    ROBUST AND AUTONOMOUS DOCKING AND RECHARGING OF QUADROTORS

    BEARDSLEY PAUL A / ERIKSSON MICHAEL / ALONSO-MORA JAVIER et al. | Europäisches Patentamt | 2016

    Freier Zugriff