Robust Control of an Equipment-Added Multirotor Using Disturbance Observer

Choi, Sunghoon; Kim, Hyeong-Geun; Shin, Jong‐Ho; Shim, Hyungbo; Kim, H. Jin

doi:10.1109/tcst.2017.2711602

Cited by 73 publications

(29 citation statements)

References 19 publications

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“…Generally, the objective of position control for the UAM is to handle the control performances under the disturbances of ∆ 1 = ∆ a + f dt [14]. The ∆ a is the disturbance from the center of gravity shift.…”

Section: Controller Designmentioning

confidence: 99%

“…Similarly, some efforts had been attempted to improve the performance of the UAM under environmental disturbances. For example, a robust controller with a disturbance observer was designed to improve the position accuracy of the UAM in [14]. In [15], a controller based on a robust internal loop compensator (RIC) was proposed to achieve system stability and trajectory tracking under the effects of picking and placing a payload.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Robust Control for Unmanned Aerial Manipulator Under Disturbances

Chen

Zhan

et al. 2020

IEEE Access

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Unmanned aerial manipulator (UAM) is usually a combination of a quadrotor and a robotic arm that can exert active influences on the environments. The control problems of the UAM system include model uncertainty caused by its center of gravity shift and external disturbances from the environments. To handle these two disturbances, a tracking control strategy is proposed for position and attitude control of the UAM in this paper. In particular, the model of the UAM is established considering with center of gravity shift and disturbances from environments. In the position control, both internal disturbances and external disturbances are compensated by using a sliding mode controller. In the attitude control, an adaptive law is designed to estimate internal disturbances, and a disturbance observer is designed to estimate external disturbances. The stability analysis of the proposed controller is provided and the effectiveness of the proposed method is verified in simulation.

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Section: Controller Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Robust Control for Unmanned Aerial Manipulator Under Disturbances

Chen

Zhan

et al. 2020

IEEE Access

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“…External disturbances applied to multi-rotor act not only in the form of translational disturbances but also in the form of rotational torques. However, given that a number of solutions for overcoming the rotational torque disturbances [8]∼ [15] have already been proposed, this section concerns only translational disturbances applied to the system for straightforward discussion and analysis.…”

Section: Disturbance Observermentioning

confidence: 99%

Robust Translational Force Control of Multi-Rotor UAV for Precise Acceleration Tracking

Lee

Kim

2020

IEEE Trans. Automat. Sci. Eng.

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In this paper, we introduce a translational force control method with disturbance observer (DOB)-based force disturbance cancellation for precise three-dimensional acceleration control of a multi-rotor UAV. The acceleration control of the multi-rotor requires conversion of the desired acceleration signal to the desired roll, pitch, and total thrust. But because the attitude dynamics and the thrust dynamics are different, simple kinematic signal conversion without consideration of those difference can cause serious performance degradation in acceleration tracking. Unlike most existing translational force control techniques that are based on such simple inversion, our new method allows controlling the acceleration of the multi-rotor more precisely by considering the dynamics of the multi-rotor during the kinematic inversion. By combining the DOB with the translational force system that includes the improved conversion technique, we achieve robustness with respect to the external force disturbances that hinders the accurate acceleration control. µ-analysis is performed to ensure the robust stability of the overall closed-loop system, considering the combined effect of various possible model uncertainties. Both simulation and experiment are conducted to validate the proposed technique, which confirms the satisfactory performance to track the desired acceleration of the multi-rotor.Note to Practitioners: Abstract-This paper presents a method for controlling the acceleration of a multi-rotor accurately under the presence of translational force disturbance. Unlike the existing methods, the new signal conversion technique that considers the dynamics of the multi-rotor in the process of converting the target translational acceleration signal to the target roll, pitch and thrust signal enables a more accurate translational force control. The disturbance observer (DOB) structure applied to the translational force control system overcomes the acceleration control performance deterioration caused by external translational force disturbance. Through the combination of the two techniques, the acceleration of the multi-rotor can be accurately controlled not only in the nominal environment but also in the presence of translational force disturbance.

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“…Trajectory planning and obstacle avoidance were overlooked in the approach. Kim et al [32] utilized disturbance observer (DOB)-based approach to recover the dynamics of a multirotor combined with additional objects and then control the complex system similar to the bare multirotor.…”

Section: Related Workmentioning

confidence: 99%

Aerial Grasping with a Lightweight Manipulator Based on Multi-Objective Optimization and Visual Compensation

Chen

Quan

Fang

2019

Sensors

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Autonomous grasping with an aerial manipulator in the applications of aerial transportation and manipulation is still a challenging problem because of the complex kinematics/dynamics and motion constraints of the coupled rotors-manipulator system. The paper develops a novel aerial manipulation system with a lightweight manipulator, an X8 coaxial octocopter and onboard visual tracking system. To implement autonomous grasping control, we develop a novel and efficient approach that includes trajectory planning, visual trajectory tracking and kinematic compensation. Trajectory planning for aerial grasping control is formulated as a multi-objective optimization problem, while motion constraints and collision avoidance are considered in the optimization. A genetic method is applied to obtain the optimal solution. A kinematic compensation-based visual trajectory tracking is introduced to address the coupled affection between the manipulator and octocopter, with the advantage of discarding the complex dynamic parameter calibration. Finally, several experiments are performed to verify the effectiveness of the proposed approach.

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Robust Control of an Equipment-Added Multirotor Using Disturbance Observer

Cited by 73 publications

References 19 publications

Robust Control for Unmanned Aerial Manipulator Under Disturbances

Robust Control for Unmanned Aerial Manipulator Under Disturbances

Robust Translational Force Control of Multi-Rotor UAV for Precise Acceleration Tracking

Aerial Grasping with a Lightweight Manipulator Based on Multi-Objective Optimization and Visual Compensation

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