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A Coupled Nonlinear Discrete-Time Controller and Observer Designs for Under-actuated Autonomous vehicles with Application to a Quadrotor Aerial Robot

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5 Author(s)
M'hammed Guisser ; Equipe Architecture des Systèmes, Université Hassan II Ain, Chock, ENSEM, BP. 8118, Oasis, Casablanca, MOROCOO. ; Hicham Medromi ; Hassan Ifassiouen ; Janah Saadi
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This paper addresses the problem of a combined discrete-time nonlinear tracking controller-observer design procedure for a class of underactuated autonomous vehicles with configuration (position and orientation) measurements and modelled via Lagrangian approach; we show the asymptotic stability of the closed loop-dynamics using Lyapunov analysis to guarantee the desired objectives of the tracking controller coupled with the observer (software sensor). The combined observer-control design techniques are applied to an autonomous quadrotor aerial robot. Simulation results are also provided to show the effectiveness of the proposed techniques

Published in:

IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics

Date of Conference:

6-10 Nov. 2006