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Output Feedback Control for a Quadrotor Aircraft Using an Adaptive High Gain Observer

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Abstract

This paper addresses the problem of quadrotor control under unknown and time-varying disturbances. It is assumed that such disturbances affect the entire quadrotor’s dynamics, i.e., in attitude and position. To stabilize the quadrotor, we propose an output-feedback control approach, in which we implement a Backstepping control together with an Adaptive High Gain Observer to estimate disturbances. The stability of the closed-loop system is proved via the Lyapunov theory. Furthermore, the effectiveness of the methodology is illustrated through numerical simulations and experiments.

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Author information

Authors and Affiliations

  1. Perception and Robotics LAB (LAPyR), Center for Research in Optics, 115 Loma del Bosque, 37150, León, Guanajuato, Mexico

    Gerardo Flores

  2. CONACYT-Tecnológico Nacional de México/Instituto Tecnológico de Culiacan, 310 Juan de Dios Batiz, 80220, Culiacán Rosales, Sinaloa, México

    V. González-Huitron & A. E. Rodríguez-Mata

Authors
  1. Gerardo Flores
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  2. V. González-Huitron
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  3. A. E. Rodríguez-Mata
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Correspondence to A. E. Rodríguez-Mata.

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Publisher’s Note Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Recommended by Associate Editor M. Chadli under the direction of Editor Chan Gook Park. This work was supported in part by the FORDECYT-CONACYT under grant 292399; by the Laboratorio Nacional de Óptica de la Visión of the National Council of Science and Technology in Mexico (CONACYT) with agreement 293411; the FORDECYT-CONACYT with the project 296737 Consortium in Artificial Intelligence.

Gerardo Flores received his B.S degree in Electronic Engineering with honors from the Instituto Tecnologico de Saltillo, México in 2000; an M.S. degree in Automatic Control from CINVESTAV-IPN, México City, in 2010; and a Ph.D. degree in Systems and Information Technology from the Heudiasyc Laboratory of the Universite de Technologie de Compiegne - Sorbonne Universites, France in 2014. Since August 2016, he has been a full time researcher and Head of the Perception and Robotics LAB with the Center for Research in Optics, Leon Guanajuato, Mexico. Dr. Flores has published more than 40 papers in the areas of control systems, computer vision and robotics.

V. Gonzalez-Huitron attained his Master’s degree in microelectronics in 2013; a Ph.D. in communications and electronics in 2017, both from the Instituto Politec-nico Nacional. He is currently working as a professor and researcher at Instituto Tecnologico de Culiacan. His research interests include computer vision, image processing, and digital signal processing.

A. E. Rodríguez-Mata was born in Mexico City on January 17, 1986. He received a Chemical Engineering degree in 2009; a Master’s degree and a Ph.D. in automatic control at the CINVESTAV-IPN, Mexico in 2016. Currently, he is a Catedras CONACyT researcher. He is interested in robust control, active disturbance rejection control, and the design of nonlinear observers for biochemical systems.

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Flores, G., González-Huitron, V. & Rodríguez-Mata, A.E. Output Feedback Control for a Quadrotor Aircraft Using an Adaptive High Gain Observer. Int. J. Control Autom. Syst. 18, 1474–1486 (2020). https://doi.org/10.1007/s12555-019-0944-6

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  • DOI: https://doi.org/10.1007/s12555-019-0944-6

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