Tracking control based on extended observer for an uncertain VTOL aircraft

This paper presents a nonlinear output-feedback control method to force an uncertain vertical take-off and landing (VTOL) aircraft to asymptotically track a given reference trajectory. The control development is based on an extended observer. The designed observer with augmented structure can not only approximate universally the uncertainties, but also estimate the unknown states. Moreover, two low-dimensional controllers are designed separately to stabilize the two decomposed flight dynamics, and make the overall closed-loop system stable. The theoretical results are confirmed by simulations.

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