Nonlinear Robust Attitude Controller Design of Flexible UCAVs with Unknown Sensor Noises

This paper aims at addressing the problem of robust attitude maneuver design for flexible unmanned combat aerial vehicles (UCAVs) with unknown sensor noises. The problem is formulated as a measurement feedback control one for a modified Rodriguez parameters based attitude error system. A nonlinear high-gain output feedback controller is proposed to carry out input-to-state stabilization for the specific translated attitude error system. The proposed method achieves not only robust attitude maneuver for UCAVs with flexibility and uncertainties, but also input-to-state stability (ISS) with random sensor noises as input. A simulation example shows the performance of the proposed method.