文件名称:Robust-Attitude-Controller-for-UAV-Using-Dynamic-Inversion-and-Extended-State-Observer-controller
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A robust feedback linearization controller is presented for attitude control of an Unmanned Aerial Vehicle
(UAV). The objective of this controller is to make the roll
angle, pitch angle, and yaw angle track the given trajectories(commands) respectively. This design is developed using
dynamic inversion and extended state observer (ESO). Firstly,
dynamic inversion is used to linearize and decouple UAV attitude
system into three single-input-single-output (SISO) systems,
then three proportional-derivative (PD) controllers are designed
for these linearized systems. Extended state observers are
used to estimate and compensate unmodeled dynamics and
extern disturbances. Simulation results show that the proposed
controller is effective and robust.
(UAV). The objective of this controller is to make the roll
angle, pitch angle, and yaw angle track the given trajectories(commands) respectively. This design is developed using
dynamic inversion and extended state observer (ESO). Firstly,
dynamic inversion is used to linearize and decouple UAV attitude
system into three single-input-single-output (SISO) systems,
then three proportional-derivative (PD) controllers are designed
for these linearized systems. Extended state observers are
used to estimate and compensate unmodeled dynamics and
extern disturbances. Simulation results show that the proposed
controller is effective and robust.
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压缩包 : Robust-Attitude-Controller-for-UAV-Using-Dynamic-Inversion-and-Extended-State-Observer-controller.ra 列表 Robust-Attitude-Controller-for-UAV-Using-Dynamic-Inversion-and-Extended-State-Observer-controller/.git/config Robust-Attitude-Controller-for-UAV-Using-Dynamic-Inversion-and-Extended-State-Observer-controller/.git/description Robust-Attitude-Controller-for-UAV-Using-Dynamic-Inversion-and-Extended-State-Observer-controller/.git/HEAD Robust-Attitude-Controller-for-UAV-Using-Dynamic-Inversion-and-Extended-State-Observer-controller/.git/hooks/applypatch-msg.sample Robust-Attitude-Controller-for-UAV-Using-Dynamic-Inversion-and-Extended-State-Observer-controller/.git/hooks/commit-msg.sample Robust-Attitude-Controller-for-UAV-Using-Dynamic-Inversion-and-Extended-State-Observer-controller/.git/hooks/fsmonitor-watchman.sample Robust-Attitude-Controller-for-UAV-Using-Dynamic-Inversion-and-Extended-State-Observer-controller/.git/hooks/post-update.sample Robust-Attitude-Controller-for-UAV-Using-Dynamic-Inversion-and-Extended-State-Observer-controller/.git/hooks/pre-applypatch.sample Robust-Attitude-Controller-for-UAV-Using-Dynamic-Inversion-and-Extended-State-Observer-controller/.git/hooks/pre-commit.sample Robust-Attitude-Controller-for-UAV-Using-Dynamic-Inversion-and-Extended-State-Observer-controller/.git/hooks/pre-merge-commit.sample Robust-Attitude-Controller-for-UAV-Using-Dynamic-Inversion-and-Extended-State-Observer-controller/.git/hooks/pre-push.sample Robust-Attitude-Controller-for-UAV-Using-Dynamic-Inversion-and-Extended-State-Observer-controller/.git/hooks/pre-rebase.sample Robust-Attitude-Controller-for-UAV-Using-Dynamic-Inversion-and-Extended-State-Observer-controller/.git/hooks/pre-receive.sample Robust-Attitude-Controller-for-UAV-Using-Dynamic-Inversion-and-Extended-State-Observer-controller/.git/hooks/prepare-commit-msg.sample Robust-Attitude-Controller-for-UAV-Using-Dynamic-Inversion-and-Extended-State-Observer-controller/.git/hooks/push-to-checkout.sample Robust-Attitude-Controller-for-UAV-Using-Dynamic-Inversion-and-Extended-State-Observer-controller/.git/hooks/update.sample Robust-Attitude-Controller-for-UAV-Using-Dynamic-Inversion-and-Extended-State-Observer-controller/.git/index Robust-Attitude-Controller-for-UAV-Using-Dynamic-Inversion-and-Extended-State-Observer-controller/.git/info/exclude Robust-Attitude-Controller-for-UAV-Using-Dynamic-Inversion-and-Extended-State-Observer-controller/.git/logs/HEAD Robust-Attitude-Controller-for-UAV-Using-Dynamic-Inversion-and-Extended-State-Observer-controller/.git/logs/refs/heads/master Robust-Attitude-Controller-for-UAV-Using-Dynamic-Inversion-and-Extended-State-Observer-controller/.git/logs/refs/remotes/origin/HEAD Robust-Attitude-Controller-for-UAV-Using-Dynamic-Inversion-and-Extended-State-Observer-controller/.git/objects/pack/pack-3d39f4decf210e7a74c62c1cee1ebf7936501c8c.idx Robust-Attitude-Controller-for-UAV-Using-Dynamic-Inversion-and-Extended-State-Observer-controller/.git/objects/pack/pack-3d39f4decf210e7a74c62c1cee1ebf7936501c8c.pack Robust-Attitude-Controller-for-UAV-Using-Dynamic-Inversion-and-Extended-State-Observer-controller/.git/packed-refs Robust-Attitude-Controller-for-UAV-Using-Dynamic-Inversion-and-Extended-State-Observer-controller/.git/refs/heads/master Robust-Attitude-Controller-for-UAV-Using-Dynamic-Inversion-and-Extended-State-Observer-controller/.git/refs/remotes/origin/HEAD Robust-Attitude-Controller-for-UAV-Using-Dynamic-Inversion-and-Extended-State-Observer-controller/avec ESO.fig Robust-Attitude-Controller-for-UAV-Using-Dynamic-Inversion-and-Extended-State-Observer-controller/avec ESO.jpg Robust-Attitude-Controller-for-UAV-Using-Dynamic-Inversion-and-Extended-State-Observer-controller/compare.fig Robust-Attitude-Controller-for-UAV-Using-Dynamic-Inversion-and-Extended-State-Observer-controller/compare.jpg Robust-Attitude-Controller-for-UAV-Using-Dynamic-Inversion-and-Extended-State-Observer-controller/compare1.jpg Robust-Attitude-Controller-for-UAV-Using-Dynamic-Inversion-and-Extended-State-Observer-controller/comparesansetavec.slx Robust-Attitude-Controller-for-UAV-Using-Dynamic-Inversion-and-Extended-State-Observer-controller/compfinal.jpg Robust-Attitude-Controller-for-UAV-Using-Dynamic-Inversion-and-Extended-State-Observer-controller/controller2.m Robust-Attitude-Controller-for-UAV-Using-Dynamic-Inversion-and-Extended-State-Observer-controller/Copy_of_dwESO.m Robust-Attitude-Controller-for-UAV-Using-Dynamic-Inversion-and-Extended-State-Observer-controller/DIavecTOT.slx Robust-Attitude-Controller-for-UAV-Using-Dynamic-Inversion-and-Extended-State-Observer-controller/DIsansTOT.slx Robust-Attitude-Controller-for-UAV-Using-Dynamic-Inversion-and-Extended-State-Observer-controller/dwESOexe.m Robust-Attitude-Controller-for-UAV-Using-Dynamic-Inversion-and-Extended-State-Observer-controller/dynamiqueI.slx Robust-Attitude-Controller-for-UAV-Using-Dynamic-Inversion-and-Extended-State-Observer-controller/dynamiqueI.slx.autosave Robust-Attitude-Controller-for-UAV-Using-Dynamic-Inversion-and-Extended-State-Observer-controller/Executer_ODE.m Robust-Attitude-Controller-for-UAV-Using-Dynamic-Inversion-and-Extended-State-Observer-controller/fal.m Robust-Attitud