TY - GEN
T1 - Dual-Disturbance Observers-based Control of UAV Subject to Internal and External Disturbances
AU - Guo, Kexin
AU - Jia, Jindou
AU - Yu, Xiang
AU - Guo, Lei
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/11
Y1 - 2019/11
N2 - This paper presents an embedded micro loop to enhance the anti-disturbance performance for unmanned aerial vehicles (UAVs). The UAV dynamics can be represented by the Lagrange-Euler formalism. The proposed control scheme, known as composite hierarchical anti-disturbance control (CHADC), consists of nonlinear disturbance observer (NDO) and the control law. Two NDOs are designed in translation loop and stabilization loop, respectively, to estimate their corresponding disturbances. It should be mentioned that the control portion in this paper can be generated by any control design approaches. Experimental results in the presence of wind disturbance, motors' faults, and hybrid disturbances illustrate the robustness and effectiveness of the proposed method when comparing to the classical method.
AB - This paper presents an embedded micro loop to enhance the anti-disturbance performance for unmanned aerial vehicles (UAVs). The UAV dynamics can be represented by the Lagrange-Euler formalism. The proposed control scheme, known as composite hierarchical anti-disturbance control (CHADC), consists of nonlinear disturbance observer (NDO) and the control law. Two NDOs are designed in translation loop and stabilization loop, respectively, to estimate their corresponding disturbances. It should be mentioned that the control portion in this paper can be generated by any control design approaches. Experimental results in the presence of wind disturbance, motors' faults, and hybrid disturbances illustrate the robustness and effectiveness of the proposed method when comparing to the classical method.
KW - Dual nonlinear disturbance observers
KW - motor faults
KW - unmanned aerial vehicle
KW - wind disturbance
UR - https://www.scopus.com/pages/publications/85080044498
U2 - 10.1109/CAC48633.2019.8997330
DO - 10.1109/CAC48633.2019.8997330
M3 - 会议稿件
AN - SCOPUS:85080044498
T3 - Proceedings - 2019 Chinese Automation Congress, CAC 2019
SP - 2683
EP - 2688
BT - Proceedings - 2019 Chinese Automation Congress, CAC 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 Chinese Automation Congress, CAC 2019
Y2 - 22 November 2019 through 24 November 2019
ER -