Robust control with disturbance observer for UAV translational tracking

Abstract

An integral robust observer with rejection control disturbance is proposed in this paper. The design of the observer is performed employing the canonical obervable model of the original non-linear system,obtained by a change of coordinates. A practical stability is proved using the Lyapunov approach with using a high gain to maintain the solution in a convergence ball. Several simulations cases are carried out to illustrate the performance of the closed-loop system in a disturbance wind prepense. In other cases, noise in the states are added to emulate a real system.

Estimation of States in Photosynthetic Systems via Chained Observers:design for a Tertiary Wastewater Treatment by Using Spirulina Maxima on Photobiorreactor

“…In some systems, assumption 2 is fulfilled in certain systems (Rodriguez-Mata et al, 2015;Bernard, 2011), such as in the case of chemical, biochemical and biological systems and for all types of systems that converge at the point of natural equilibrium (x eq ). In this sense, the system (20) can be represented as a linear system (2) using the Taylor approach (Jacabian matrix) in an equilibrium point (x est ) in addition to aforementioned virtual T.T.C.…”