Multiple observers based anti-disturbance control for a quadrotor UAV against payload and wind disturbances
This paper presents a multiple observers based anti-disturbance control (MOBADC) scheme against multiple disturbances for a quadrotor unmanned aerial vehicle (UAV). The quadrotor UAV dynamics can be represented by the Newton’s second law and Lagrange–Euler formalism. The proposed control scheme cons...
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| Published in: | Control engineering practice Vol. 102; p. 104560 |
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| Main Authors: | , , , , |
| Format: | Journal Article |
| Language: | English |
| Published: |
Elsevier Ltd
01.09.2020
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| Subjects: | |
| ISSN: | 0967-0661, 1873-6939 |
| Online Access: | Get full text |
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| Abstract | This paper presents a multiple observers based anti-disturbance control (MOBADC) scheme against multiple disturbances for a quadrotor unmanned aerial vehicle (UAV). The quadrotor UAV dynamics can be represented by the Newton’s second law and Lagrange–Euler formalism. The proposed control scheme consists of disturbance observer (DO) based controller and extended state observer (ESO) based controller, which are utilized in the position loop to mainly eliminate the cable suspended payload disturbance with partially known information and mitigate the wind disturbance with bounded variation. What is more, in order to reject the model uncertainty and disturbance moment, another ESO based controller is designed for the attitude loop. Using the proposed control scheme, the anti-disturbance performance can be significantly enhanced. Experimental results in the presence of wind disturbance, payload oscillating disturbance, and hybrid disturbances illustrate the robustness and effectiveness of the proposed method compared to the classical PID method. |
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| AbstractList | This paper presents a multiple observers based anti-disturbance control (MOBADC) scheme against multiple disturbances for a quadrotor unmanned aerial vehicle (UAV). The quadrotor UAV dynamics can be represented by the Newton’s second law and Lagrange–Euler formalism. The proposed control scheme consists of disturbance observer (DO) based controller and extended state observer (ESO) based controller, which are utilized in the position loop to mainly eliminate the cable suspended payload disturbance with partially known information and mitigate the wind disturbance with bounded variation. What is more, in order to reject the model uncertainty and disturbance moment, another ESO based controller is designed for the attitude loop. Using the proposed control scheme, the anti-disturbance performance can be significantly enhanced. Experimental results in the presence of wind disturbance, payload oscillating disturbance, and hybrid disturbances illustrate the robustness and effectiveness of the proposed method compared to the classical PID method. |
| ArticleNumber | 104560 |
| Author | Guo, Lei Yu, Xiang Guo, Kexin Xie, Lihua Jia, Jindou |
| Author_xml | – sequence: 1 givenname: Kexin surname: Guo fullname: Guo, Kexin email: kxguo@buaa.edu.cn organization: School of Automation Science and Electrical Engineering, Beihang University, 100191, Beijing, China – sequence: 2 givenname: Jindou surname: Jia fullname: Jia, Jindou email: zy1903239@buaa.edu.cn organization: School of Automation Science and Electrical Engineering, Beihang University, 100191, Beijing, China – sequence: 3 givenname: Xiang surname: Yu fullname: Yu, Xiang email: xiangyu_buaa@buaa.edu.cn organization: School of Automation Science and Electrical Engineering, Beihang University, 100191, Beijing, China – sequence: 4 givenname: Lei surname: Guo fullname: Guo, Lei email: lguo@buaa.edu.cn organization: School of Automation Science and Electrical Engineering, Beihang University, 100191, Beijing, China – sequence: 5 givenname: Lihua surname: Xie fullname: Xie, Lihua email: elhxie@ntu.edu.sg organization: School of Electrical and Electronic Engineering, Nanyang Technological University, 639798, Singapore |
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| SubjectTerms | Anti-disturbance control Disturbance observer Extended state observer Payload disturbance Unmanned aerial vehicle Wind disturbance |
| Title | Multiple observers based anti-disturbance control for a quadrotor UAV against payload and wind disturbances |
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