Disturbance Observer Based Inverse Optimal Tracking Control of the Unmanned Aerial Helicopter
The attitude and altitude tracking control problem of an unmanned aerial helicopter (UAH) with unknown external disturbances is solved by employing an optimal control method in this paper. An inverse optimal control approach is adopted which avoids solving the associated Hamilton Jacobi Bellman (HJB) equation. A disturbance observer based control (DOBC) method is utilized to deal with the unknown disturbances. To ensure the convergence of all tracking errors, a particular control Lyapunov function is selected via inverse optimal method. The performance of this developed control method is illustrated by simulation results.
2019 IEEE 8th Data Driven Control and Learning Systems Conference (DDCLS)