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Dettaglio pubblicazione

2019, 11th IFAC Symposium on Nonlinear Control Systems NOLCOS 2019, Pages 837-842 (volume: 52)

Application of enhanced extended observer in station-keeping of a quadrotor with unmeasurable pitch and roll angles (04b Atto di convegno in volume)

Borisov O. I., Pyrkin A. A., Isidori A.

In this paper we provide an example of application of the design of a control law that makes use of an enhanced version of the so-called extended observer. The enhancement in question reposes on the extension of a classical Lemma due to Dayawansa to the case of nonlinear systems whose normal form includes time-varying (and measurable) gains. The presented example concerns a station-keeping problem of a quadrotor with unmeasurable pitch and roll angles.
Gruppo di ricerca: Networked Systems
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