Paper:
Polynomial Linear Quadratic Gaussian and Sliding Mode Observer for a Quadrotor Unmanned Aerial Vehicle
Abdellah Mokhtari*, Abdelaziz Benallegue**,
and Abdelkader Belaidi***
*University of Science and Technology Oran, BP 1505 El M’naouer, 31000 Oran, Algeria
**Laboratoire de Robotique de Versailles, 10-12 av de l’Europe, 78140 Velizy, France
***E.N.S.E.T Oran, Algérie
- [1] C. Gökçek, P. T. Kabamba, and S. M. Meerkov, “An LQR/LQG Theory for Systems With Saturating Actuators,” Trans. Autom. Control, Vol.46, No.10, p. 1529, 2001.
- [2] V. Kucera, “Discrete Linear Control,” Wiley: Chichester, 1979.
- [3] V. Kucera, “Stochastic multivariable control: A polynomial equation approach,” IEEE Trans. Autom. Control, Vol.AC-25, No.5, pp. 913-919, 1980.
- [4] J. J. E. Slotine, “Sliding controller design for nonlinear systems,” International Journal of Control, Vol.38, pp. 465-492, Feb. 1984.
- [5] J.-J. E. Slotine, and J. K. Hedrick, “Robust Input-Output Feedback Linearization,” International Journal of Control, Vol.57, pp. 1133-1139, 1993.
- [6] W. T. Baumann, and W. J. Rugh, “Feedback control of nonlinear systems by extended linearization,” IEEE Transactions on Automatic Control, Vol.AC-31, No.1, pp. 40-46, Jan. 1986.
- [7] K. Youcef-Toumi, and O. Ito, “Time Delay Controller of Systems with Unknown Dynamics,” ASME Journal of Dynamic Systems, Measurement and Control, 112(1), pp. 133-142, Mar. 1990.
- [8] D. Luenberger, “Observers for multivariable systems,” IEEE Trans. Autom. Control, Vol.11, pp. 190-197, 1966.
- [9] W. Wang, and Z. Gao, “A Comparison Study of Advanced State Observer Design Techniques,” American Control Conference, at Denver, CO. June 4-6, 2003.
- [10] V. Mistler, A. Benallegue, and N. K. M’Sirdi, “Exact Linearization and Non-interacting Control of a 4 Rotors Helicopter via Dynamic Feedback,” 10th IEEE Int. Workshop on Robot-Human Interactive Communication (Roman’2001), Paris, Sep. 2001.
- [11] H. K. Khalil, “Nonlinear Systems,” McMillan Publishing Company, New York, 1992.
- [12] M. J. Grimble, “Controller for LQG self tuning application with coloured measurement noise and dynamic costing,” IEE Proc., Vol.133, Pt D, No.1, 1983.
- [13] M. J. Grimble, “LQG design of discrete systems using a dual criterion,” IEE Proc., Vol.192, No.2, pp. 66-68, 1985.
- [14] M. J. Grimble, “Dual criterion stochastic optimal control problem for robustness improvement,” IEEE Trans. Autom. Control, Vol.AC-31, No.2, pp. 181-185, 1986.
- [15] E. William, and S. Levine, “The Control Handbook,” CRC Press/IEEE Press, 1996.
- [16] F. M. Callier, and J. Winkin, “The spectral factorization problem for SISO distributed systems,” in Modelling, robustness and sensitivity reduction in control systems (R.F. Curtain, ed.), NATO ASI Series, Vol.F34, Springer-Verlag, Berlin Heidelberg, pp. 463-489, 1987.
- [17] F. M. Callier, and J. Winkin, “Spectral factorization and LQ-optimal regulation for multivariable distributed ystems,” Int. J. of Control, Vol.52, No.1, pp. 55-75, 1990.
- [18] A. H. Sayed, and T. Kailath, “A Survey of Spectral Factorization Methods,” Journal of Numerical Linear Algebra With Applications, Vol.8, pp. 467-496, 2001.
- [19] C. M. Dorling, and A. S. I. Zinober, “A comparison study of the sensitivity of observers,” Proceeding First IASTED Symposium on Applied Control and Identification, Copenhagen, pp. 6.32-6.37, 1983.
- [20] J. Slotine, J. K. Hedrick, and E. A. Misawa, “On sliding observers for nonlinear systems,” Journal of Dynamic Systems, Measurement, and Control, Vol.109, p. 245, 1987.
- [21] J. Slotine, and S. Sastry, “Tracking Control of Non-linear Systems Using Sliding Surfaces, with Application to Robot Manipulators,” Int. J. Control, Vol.38, pp. 465-492, 1983.
- [22] V. I. Utkin, “Sliding Modes in Control and Optimization,” Springer-Verlag, Berlin, 1992.
- [23] S. Drakunov, “Sliding mode observer based on equivalent control method,” Proceeding of the 34th IEEE CDC92, pp. 2368-2369, 1992.
- [24] S. Drakunov, and V. Utkin, “Sliding mode observer: Tutorial,” Proceeding of the 34th IEEE CDC95, 1995.
This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.
Copyright© 2005 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.