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Indoor Navigation Strategies for Aerial Autonomous Systems by Pedro Garcia Gil, Laura Elena Munoz Hernandez, Pedro Castillo-Garcia

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Chapter 8

Robust Simple Controllers*

Abstract

Robust controllers are necessary when an aerial vehicle is disturbed by wind or unknown perturbations. In this chapter two robust simple controllers are introduced to stabilize a VTOL vehicle (quadcopter). The first one is obtained from the Lyapunov analysis and based on saturation functions. It is demonstrated that this controller is robust with respect to unknown external disturbances and unknown nonlinear uncertainties. The second one is developed using a feedback algorithm in combination with the Uncertainty Disturbance Estimator (UDE). This controller increases the control performance in closed loop even in the presence of unknown and external perturbations. Simulations and experimental ...

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