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This paper develops a control scheme for a Spherical Unmanned Aerial Vehicle
(UAV) which can be used in complex scenarios where traditional navigation and communications
systems would not succeed. The proposed scheme is based on the nonlinear control theory
combined with Adaptive Neural-Networks Disturbance Observer (NN-DOB) and controls the
attitude and altitude of the UAV in presence of model uncertainties and external disturbances.
The NN-DOB can eectively estimate the uncertainties without the knowledge of their bounds
and the control system stability is proven using Lyapunov's stability theorems. Numerical
simulation results demonstrate the validity of the proposed method on the UAV under model
uncertainties and external disturbances
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