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This paper propose an hierarchical controller based on a new disturbance observer with finite time convergence (FTDO) to solve the path tracking of a small coaxial-rotor-typs Unmanned Aerial Vehicles (UAVs) despite of unknown aerodynamic efforts. The hierarchical control technique is used to separate the flight control problem into an inner loop that controls attitude and an outer loop that controls...
This paper considers the problem of controlling the position and the orientation of a Coaxial-Rotor Unmanned Aerial Vehicle -CRUAV- despite unknown aerodynamic efforts. A hierarchical flight controller is designed, allowing the trajectory tracking and the stabilization of the vehicle. The designed controller is build through a hierarchical approach yielding two control loops, an inner one to control...
This paper investigates a new and simple control design for underatuated mechanical system with control diagram flow in tree structure. In such systems, the control input is related to more than one degree of freedom simultaneously. The idea is to include in the control law expression terms that act on theses variables at the same time. The procedure is applied to the stabilization of the popular...
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