title: Extended State Observer based control for coaxial-rotor UAV.
abstract: This paper considers the problem of controlling the position and the orientation of a Coaxial-Rotor Unmanned Aerial Vehicle -CRUAV- despite unknown aerodynamic efforts. A hierarchical flight controller is designed, allowing the trajectory tracking and the stabilization of the vehicle. The designed controller is build through a hierarchical approach yielding two control loops, an inner one to control the attitude and an outer one to control the translational trajectory of the rotorcraft. An Extended State Observer -ESO- is used to estimate the state and the unknown aerodynamic disturbances. The analysis further extends to the design of a control law that takes the disturbance estimation procedure into account. Numerical simulations are carried out to demonstrate the efficiency of the proposed control strategy.
authors.affiliation: Laboratoire d׳Automatique de Tlemcen (LAT), Electrical Engineering Department, Tlemcen University, Algeria. Electronic address: mokhtari_rida_aut@hotmail.fr.
authors.forename: M
authors.initials: M
authors.lastname: Rida Mokhtari
authors.affiliation: Laboratoire d׳Automatique de Tlemcen (LAT), Electrical Engineering Department, Tlemcen University, Algeria. Electronic address: amel_choukchou@yahoo.fr.
authors.forename: Amal
authors.initials: A
authors.lastname: Choukchou Braham
authors.affiliation: Laboratoire d׳Automatique de Tlemcen (LAT), Electrical Engineering Department, Tlemcen University, Algeria. Electronic address: b.cherki@gmail.com.
authors.forename: Brahim
authors.initials: B
authors.lastname: Cherki
keywords: Active disturbance rejection control; Coaxial-rotor; Extended State Observer; Hierarchical control