Adaptive output feedback control for miniature unmanned aerial vehicle
Pages 318 - 322
Abstract
In this paper, we address output feedback control problem for miniature unmanned aerial vehicle (MUAV). We first design state feedback based nonlinear control by assuming that states are available for feedback. Then, we use observer to estimate the velocity signals to develop output feedback based nonlinear controller for MUAV. The convergence condition with output feedback design is given by Lyapunov method. The analysis shows that the performance achieved under state feedback can be recovered by using output feedback as the values of observer gain converges to zero. Evaluation results are presented to demonstrate the validity of the theoretical argument of the proposed design for real-time applications.
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Published: 01 July 2016
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