Exponentially stable observer-based controller for VTOL-UAVs without velocity measurements

DOI10.1080/00207179.2022.2079004zbMath1527.93317arXiv2205.07159OpenAlexW4280571200MaRDI QIDQ6134205

Hashim A. Hashim

Publication date: 25 July 2023

Published in: International Journal of Control (Search for Journal in Brave)

Full work available at URL: https://arxiv.org/abs/2205.07159

zbMATH Keywords

asymptotic stabilitylocalisationautonomous navigationtracking controlunmanned aerial vehiclenonlinear filter algorithm

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Asymptotic stability in control theory (93D20) Exponential stability (93D23) Observers (93B53)

Cites Work

• Exponential convergence of a nonlinear attitude estimator
• Quadrotor vehicle control via sliding mode controller driven by sliding mode disturbance observer
• State transformation-based dynamic visual servoing for an unmanned aerial vehicle
• A Class of Position Controllers for Underactuated VTOL Vehicles
• Robust output tracking control of a class of non-minimum phase systems and application to VTOL aircraft
• Three-axis attitude determination from vector observations
• A Control Approach for Thrust-Propelled Underactuated Vehicles and its Application to VTOL Drones
• Systematic convergence of nonlinear stochastic estimators on the Special Orthogonal Group SO(3)
• PVTOL global stabilisation using a nested saturation control
• The Invariant Extended Kalman Filter as a Stable Observer

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