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In this paper, we propose a tracking controller for quad-rotor suspended a flexible cable. The first contribution is to present a new disturbance observer to estimate online both the tension of the cable and unknown disturbances applied to dynamics. The second one is to propose a new exact linearization method which reduces the nonlinear closed-loop system to a linear controllable state equation by...
In this paper, we consider problems of controlling the position of a quad-rotor helicopter in the quaternion. The quad-rotor helicopter is described by a set of nonlinear equations. This paper presents a useful exact input-output linearization of the helicopter by using a nonsingular input transformation. This linearization provides both simple controller designs and higher level control performance,...
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