Robust output tracking control of an unmanned aerial vehicle subject to additive state dependent disturbance

• Published in: IET control theory & applications Vol. 10; no. 14; pp. 1612 - 1619
• Main Authors: Tanyer, İlker, Tatlıcıoğlu, Enver, Zergeroğlu, Erkan, Deniz, Meryem, Bayrak, Alper, Özdemirel, Barbaros
• Format: Journal Article
• Language: English
• Published: The Institution of Engineering and Technology 19.09.2016
• Subjects: additive state dependent disturbance; Additives; Aircraft; aircraft dynamics; aircraft model; Asymptotic properties; asymptotic tracking controller; autonomous aerial vehicles; Computer simulation; control system synthesis; Controllers; Design analysis; dynamic inversion technique; global asymptotic convergence; Lyapunov based analysis; Lyapunov methods; Nonlinearity; numerical analysis; numerical simulation; Research Article; robust control; robust output tracking control; Tracking errors; unmanned aerial vehicle; robust output tracking control; unmanned aerial vehicle; dynamic inversion technique; aircraft; control system synthesis; aircraft model; aircraft dynamics; autonomous aerial vehicles; global asymptotic convergence; numerical analysis; additive state dependent disturbance; robust control; asymptotic tracking controller; numerical simulation; Lyapunov methods; Lyapunov based analysis

In this study, an asymptotic tracking controller is developed for an aircraft model subject to additive, state-dependent, non-linear disturbance-like terms. Dynamic inversion technique in conjunction with robust integral of the sign of the error term is utilised in the controller design. Compared to...