Nonlinear Observer and Backstepping Control of Quadrotor Unmanned Aerial Vehicle

Larbi Mohamed Elamine; Kadda Zemalache Meguenni; Meddahi Youssouf; Mustapha Litim

doi:10.15866/ireaco.v6i5.4135

Nonlinear Observer and Backstepping Control of Quadrotor Unmanned Aerial Vehicle

Larbi Mohamed Elamine^(1*), Kadda Zemalache Meguenni⁽²⁾, Meddahi Youssouf⁽³⁾, Mustapha Litim⁽⁴⁾

^(*) Corresponding author

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Abstract

This article presents the general concept of two nonlinear observers, such as high gain, sliding mode, adapted with nonlinear Backstepping control of quadrotor. The Positions is estimated by observers and set against reaction for control. The observatory technique using for estimated the non-measurable states has fine to reduce the number of sensors embedded in the x4- flying system. Several simulation tests in Simulink / Matlab are carried and takes into account an external disturbances (wind) to demonstrate the performance of the system controller-observer.
Copyright © 2013 Praise Worthy Prize - All rights reserved.

Keywords

Nonlinear Observer; High Gain; Sliding Mode; BackStepping

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