Nonlinear Observer and Backstepping Control of Quadrotor Unmanned Aerial Vehicle
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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.
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