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In this work, we develop an output feedback altitude-attitude controller for quadrotor UAV in the presence of uncertainties in UAV and actuator dynamics. Controller design for the quadrotor UAV is a difficult task due to its uncertain nonlinear dynamics. Unlike most previous works, we also consider uncertain actuator dynamics into the model construction of the UAV. For state estimation, a nonlinear...
An adaptive dynamic surface control scheme is designed to achieve output tracking for a class of nonlinear output feedback system with uncertain actuator failure pattern, value and time instants. State observer is used to estimate unavailable plant states. Detailed stability analysis is carried out to prove the uniform ultimate boundedness of all closed-loop system signals.
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