Robust State and Output Feedback Control of Launched MAVs with Unknown Varying External Loads

摘要

The operation of launched micro aerial vehicles (MAVs) with coaxial rotors is usually subject to unknown varying external disturbance. In this paper, a robust controller is designed to reject such uncertainties and track both position and orientation trajectories. A complete dynamic model of coaxial-rotor MAV is firstly established. When all system states are available, a nonlinear state-feedback control law is proposed based on feedback linearization and Lyapunov analysis. Further, to overcome the practical challenge that certain states are not measurable, a high gain observer is introduced to estimate unavailable states and an output feedback controller is developed. Rigid theoretical analysis verifies the stability of the entire closed-loop system. Additionally, extensive simulation studies have been conducted to validate the feasibility of the proposed scheme.