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Trajectory Tracking Controller for Birotor Coaxial Unmanned Aerial Vehicle Using Nonlinear Continuous-Time Generalized Predictive Control Combined to PI-Observer

  • FLIGHT DYNAMICS AND CONTROL OF FLIGHT VEHICLES
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Abstract

Technological advances have recently contributed to the development of small size drones. However, these small aerial vehicles are considerably sensible to disturbances, which come from wind, sounds vibrations or other waves. As a matter of fact, it is very difficult to design the command law for these types of drones because they exhibit nonlinear dynamics. Many types of linear commands exist but are not reliable especially when the system is far from its equilibrium position. Despite the fact that nonlinear controls are adequate, they are not precise when the system is subjected to disturbances. This paper proposes a theoretical study of the response of a coaxial birotor unmanned aerial vehicle dynamics to a robust control technique coupled to the proportional integral observer. Theoretically, the control law is obtained by nonlinear continuous-time generalized predictive control technique. The robustness of the control obtained is improved by associating it with a proportional integral observer. Simulated results show the benefits of the obtained control law to realize trajectory tracking.

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Authors and Affiliations

  1. University of Ngaoundéré, P.O. Box 454, Ngaoundéré, Adamawa, Cameroon

    Calin Joel Nkouagnou  & Djalo Haman

  2. University of Yaoundé 1, P.O. Box 337, Yaoundé, Cameroon

    Jiotsa Aurelien Kenfack

Authors
  1. Calin Joel Nkouagnou
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  2. Djalo Haman
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  3. Jiotsa Aurelien Kenfack
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Correspondence to Calin Joel Nkouagnou .

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Nkouagnou , C.J., Haman , D. & Kenfack, J.A. Trajectory Tracking Controller for Birotor Coaxial Unmanned Aerial Vehicle Using Nonlinear Continuous-Time Generalized Predictive Control Combined to PI-Observer. Russ. Aeronaut. 64, 646–660 (2021). https://doi.org/10.3103/S1068799821040097

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  • DOI: https://doi.org/10.3103/S1068799821040097

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