A nonlinear estimation and control algorithm based on ant colony optimization

2016 ◽  
Author(s):  
Hadi Nobahari ◽  
Saeed Nasrollahi
Keyword(s):  
Ant Colony Optimization ◽  
Control Algorithm ◽  
Nonlinear Estimation ◽  
Ant Colony ◽  
Estimation And Control ◽  
And Control

Implementation of State and Disturbance Estimation for Quadrotor Control Using Extended High-Gain Observers

2016 ◽  
Author(s):  
Connor J. Boss ◽  
Joonho Lee ◽  
Charles Carvalho de Aguiar ◽  
Jongeun Choi
Keyword(s):  
Control Algorithm ◽  
High Gain ◽  
Dynamic Inversion ◽  
Model Uncertainties ◽  
External Disturbances ◽  
Disturbance Estimation ◽  
Sample Data ◽  
Estimation And Control ◽  
Control Forces ◽  
And Control

This paper proposes a discrete-time, multi-time-scale estimation and control design for quadrotors in the presence of external disturbances and model uncertainties. Assuming that not all state measurements are available, they will need to be estimated. The sample-data Extended High-Gain Observers are used to estimate unmeasured states, system uncertainties, and external disturbances. Discretized dynamic inversion utilizes those estimates and deals with an uncertain principal inertia matrix. In the plant dynamics, the proposed control forces the rotational dynamics to be faster than the translational dynamics. Numerical simulations and experimental results verify the proposed estimation and control algorithm. All sensing and computation is done on-board the vehicle.

Editorial: Nonlinear estimation and control of BioProcesses

2009 ◽  
Vol 25 (3) ◽  
pp. 605-605
Author(s):  
Alain Vande Wouwer ◽  
Isabelle Queinnec
Keyword(s):  
Nonlinear Estimation ◽  
Estimation And Control ◽  
And Control
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