Design and Experimental Studies of a Disturbance Observer for Attitude Control of a Quad-rotor System

정승호,; 정슬,

doi:10.5302/j.icros.2013.13.1890

Cited by 12 publications

(5 citation statements)

References 15 publications

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“…(32) Equation (32) shows that the relationship between e i+1 and e i satisfies the ISS property. From (30) and (32), the ISS property of the overall tracking error system is represented by (26). Thus, the tracking error dynamics (28) is the serial interconnected system of ISS systems.…”

Section: Nonlinear Damping Controller Designmentioning

confidence: 99%

See 1 more Smart Citation

Extended State Observer Based Robust Position Tracking Control Using Nonlinear Damping Gain for Quadrotors With External Disturbance

et al. 2020

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We propose an extended-state-observer (ESO)-based robust position tracking control method using nonlinear damping gain to improve the control performance under external disturbances and parameter uncertainties for quadrotors. The proposed method consists of an ESO and a nonlinear damping controller (NDC). The ESO is designed to estimate full state and disturbance. The external disturbance, velocity dynamics, and the uncertainty of the input parameter are lumped in the disturbance. The NDC is developed via backstepping procedure to suppress the output tracking error according to the disturbance estimation error. The proposed method is simple and robust against external disturbance and parameter uncertainties. In addition, only the nominal value of the input gain parameters are required. The closed-loop stability is proven by using the input-to-state stability property. The position tracking performance of proposed method was verified by performing hardware-in-the-loop simulations using a quadrotor platform. INDEX TERMS Extended state observer (ESO), Nonlinear damping contol (NDC), Quadrotor, Robust position control, Hardware-in-the-loop-simulation (HILS)

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Section: Nonlinear Damping Controller Designmentioning

confidence: 99%

“…Disturbance observer (DOB)-based control algorithms have been developed via backstepping procedure to compensate for the external disturbances that do not satisfy matching conditions [26]- [28]. Adaptive fuzzy based control methods have been developed to compensate for the disturbances and uncertainties [29]- [31].…”

Section: Introductionmentioning

confidence: 99%

Extended State Observer Based Robust Position Tracking Control Using Nonlinear Damping Gain for Quadrotors With External Disturbance

et al. 2020

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“…This is achieved by a PD feedback controller with acceleration feedforward and a disturbance observer (DOB). The DOB structure originates from Nakao, Ohnishi, & Miyachi () and Youcef‐Toumi and Ito (), and has more recently been applied to quadrotors in Kondak, Bernard, Meyer, and Hommel () and Jeong and Jung (). Here we assume a simplified model of the quadrotor with

m \ddot{bold-italicx} = f + h

, where m is the quadrotor mass,

\overset{x}{true}

is the acceleration,

bold-italicf

is the control input and

bold-italich

is the external disturbance and model error acting on the system.…”

Section: High‐level System Designmentioning

confidence: 99%

Autonomous Vision‐based Micro Air Vehicle for Indoor and Outdoor Navigation

Schmid

Lutz

Tomić

et al. 2014

Journal of Field Robotics

100

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Micro air vehicles have become very popular in recent years. Autonomous navigation of such systems plays an important role in many industrial applications as well as in search‐and‐rescue scenarios. We present a quadrotor that performs autonomous navigation in complex indoor and outdoor environments. An operator selects target positions in the onboard map and the system autonomously plans an obstacle‐free path and flies to these locations. An onboard stereo camera and inertial measurement unit are the only sensors. The system is independent of external navigation aids such as GPS. No assumptions are made about the structure of the unknown environment. All navigation tasks are implemented onboard the system. A wireless connection is only used for sending images and a three‐dimensional (3D) map to the operator and to receive target locations. We discuss the hardware and software setup of the system in detail. Highlights of the implementation are the field‐programmable‐gate‐array‐based dense stereo matching of 0.5 Mpixel images at a rate of 14.6 Hz using semiglobal matching, locally drift‐free visual odometry with key frames, and sensor data fusion with compensation of measurement delays of 220 ms. We show the robustness of the approach in simulations and experiments with ground truth. We present the results of a complex, autonomous indoor/outdoor flight and the exploration of a coal mine with obstacle avoidance and 3D mapping.

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“…Significant improvements have not been shown when applied to position control. Investigation of disturbance observers in quadrotors has also been done in [26], [27], [28]. However, here only near-hover conditions were investigated.…”

Section: B Related Workmentioning

confidence: 99%

Evaluation of acceleration-based disturbance observation for multicopter control

Tomić

2014

2014 European Control Conference (ECC)

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Small UAVs flying in narrow passages require robustness to turbulence caused by self-induced vortices. Aerial manipulation introduces modeling errors due to payload and parameter changes. When large external forces are applied, small helicopters must fly at orientations far outside hover conditions. The compensation of such uncertainties can be achieved through disturbance observation (DO). An onboard IMU makes the platform well-suited for acceleration-based DO. In this paper, we evaluate a cascaded attitude and position tracking controller for a quadrotor. Quaternions are used for attitude control to allow large orientation angles. We investigate attitude tracking by the boundary-layer integral sliding mode control coupled with acceleration-based DO. The position controller generates singularity-free quaternion and angular velocity signals. The presented controller is experimentally verified and compared to PID and backstepping controllers for trajectory tracking and hovering in turbulent conditions. Compensation of large external forces in the horizontal plane is shown through a stable 45 • hover.

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Design and Experimental Studies of a Disturbance Observer for Attitude Control of a Quad-rotor System

Cited by 12 publications

References 15 publications

Extended State Observer Based Robust Position Tracking Control Using Nonlinear Damping Gain for Quadrotors With External Disturbance

Extended State Observer Based Robust Position Tracking Control Using Nonlinear Damping Gain for Quadrotors With External Disturbance

Autonomous Vision‐based Micro Air Vehicle for Indoor and Outdoor Navigation

Evaluation of acceleration-based disturbance observation for multicopter control

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