Robust Attitude Controller for Unmanned Aerial Vehicle Using Dynamic Inversion and Extended State Observer

摘要：

A robust feedback linearization controller is pre sented for attitude control of an Unmanned Aerial Vehicle (UAV).The objective of this controller is to make the roll angle,pitch angle,and yaw angle track the given trajecto ries(commands)respectively.This design is developed using dynamic inversion and extended state observer (ESO).Firstly, dynamic inversion is used to linearize and decouple UAV attitude system into three single-input-single-output(SISO) systems, then three proportional-derivative(PD)controllers are designed for these linearized systems.Extended state observers are used to estimate and compensate unmodeled dynamics and extern disturbanccs.Simulation results show that the proposed controller is effective and robust.

关键词： attitude control dynamic inversion extended state observer robustness

作者: Ruyi Yuan Guoliang Fan Jianqiang Yi Wensheng Yu

作者单位: Institute of Automation,Chinese Academy of Sciences,Beijing, China Institute of Automation,Chinese Academy of Sciences,Beijing, China Shanghai Key Laboratory of Trustw

会议类型: 国际会议

会议名称: 2009 Second International Conference on Intelligent Computation Technology and Automation(2009 第二届IEEE智能计算与自动化国际会议 ICICTA 2009)

会议地点: 长沙

会议语种:英文

页码: 850-853

在线出版日期: 2009-10-10（万方平台首次上网日期，不代表论文的发表时间）