title: Disturbance observer based hierarchical control of coaxial-rotor UAV.
abstract: This paper propose an hierarchical controller based on a new disturbance observer with finite time convergence (FTDO) to solve the path tracking of a small coaxial-rotor-typs Unmanned Aerial Vehicles (UAVs) despite of unknown aerodynamic efforts. The hierarchical control technique is used to separate the flight control problem into an inner loop that controls attitude and an outer loop that controls the thrust force acting on the vehicle. The new disturbance observer with finite time convergence is intergated to online estimate the unknown uncertainties and disturbances and to actively compensate them in finite time.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: École supérieure des sciences appliquées de Tlemcen, Algeria; Laboratoire d'Automatique de Tlemcen (LAT). Electrical Engineering Department, Tlemcen University, Algeria. Electronic address: mokhtari_rida_aut@hotmail.fr.
authors.forename: M Rida
authors.initials: MR
authors.lastname: Mokhtari
authors.affiliation: École supérieure des sciences appliquées de Tlemcen, Algeria; 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
authors.affiliation: Laboratoire d'Automatique de Tlemcen (LAT). Electrical Engineering Department, Tlemcen University, Algeria. Electronic address: amel_choukchou@yahoo.fr.
authors.forename: Amal Choukchou
authors.initials: AC
authors.lastname: Braham
keywords: Coaxial-rotor; Disturbance Observer; Finite time convergence; Hierarchical control