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Title: İHA'lar için gürbüz takip denetçisi
Other Titles: Robust tracking controller for UAVs
Authors: Tanyer, İlker
Tatlıcıoğlu, Enver
Zergeroǧlu, Erkan
Keywords: Robust control
Unmanned Aerial Vehicle
Exponential tracking
Publisher: Institute of Electrical and Electronics Engineers Inc.
Series/Report no.: Signal Processing and Communications Applications Conference
Abstract: In this study, a nonlinear control technique that guarantee exponential output tracking for unmanned aerial vehicles subject to uncertainties in system dynamics and additive nonlinear disturbances is developed. In the literature, dynamic inversion method which is a nonlinear control technique commonly used within the aerospace community to replace aircraft dynamics with a reference model. Dynamic inversion and robust control methods were usually utilized together to compensate for the uncertainties and ensure output tracking. Review of the literature highlights the fact that, in previous works, estimate of the uncertain system matrices was used in the controller design. In our study, we removed the requirement for the estimate of the uncertain system matrices and yet still guarantee exponential tracking of a reference model.
Description: 21st Signal Processing and Communications Applications Conference (SIU)
ISBN: 978-1-4673-5563-6
ISSN: 2165-0608
Appears in Collections:Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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