Robust control of UAVs using uncertainty and Disturbance Estimation

Ashok, Anish; Kumari, Deepika; Satish, Kavya; Eswar, Swati; Chandar, T. S.

doi:10.1109/iic.2015.7150781

Cited by 4 publications

(2 citation statements)

References 11 publications

(9 reference statements)

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“…With the advantage, UDE has been successfully applied in various systems, e.g. the hybrid force/position control of robot manipulators [21], trajectory tracking control of robot manipulators [22], gimbal platform [23], unmanned aerial vehicles [24], hydraulic position control of position servo system [25], and combined sliding mode control to control flexible joint [26]. In this paper, a UDE based robust movements and balance controller is proposed for lower part to guarantee the balance and mobility of WLR.…”

Section: Introductionmentioning

confidence: 99%

Movements and Balance Control of a Wheel-Leg Robot Based on Uncertainty and Disturbance Estimation Method

Xin

Rong

et al. 2019

IEEE Access

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In order to control the posture, balance and movements of a wheel-leg robot(WLR) precisely, some problems have to be solved. The major problems involve the strongly coupling of movement states, the composite uncertainty with modeling errors, the time-varying internal and the external disturbances. In this paper, a force controller based on the uncertainty and disturbance estimation(UDE) method is designed. The feedforward compensation based on dynamic model allows for compliant and more precise motion control. The UDE can estimate and compensate the composite uncertainty without any priori information effectively. The posture controller is designed based on the virtual model control. The whole controller which includes the posture controller and the movements balance controller is proposed and applied for WLR that built in Webots. The simulation results of trajectory control, balance control and robust test are presented to demonstrate the effectiveness of the whole controller. INDEX TERMS Uncertainty and disturbance estimator (UDE), wheel-leg robot, virtual model control.

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Section: Introductionmentioning

confidence: 99%

Movements and Balance Control of a Wheel-Leg Robot Based on Uncertainty and Disturbance Estimation Method

Xin

Rong

et al. 2019

IEEE Access

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“…The simulation results show that it is better than the conventional discretization methods. In [17], a controller is designed using uncertainty and disturbance estimation. In [18], a wireless camera is used to obtain the status of UAV and provides feedback to a PD controller.…”

Section: Introductionmentioning

confidence: 99%

Stabilization of UAV using Delta Sigma Modulator based controller

Kumar¹,

Diwakar²,

Balasubramanian³

2018

IJET

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The design development and control of Unmanned Aerial Vehicles (UAV’s) have stimulated great significance in the automatic control research for the past 2 decades. In specific, Quad rotor systems are a promising platform in the area of Uthe AV research, due to its simple in construction, maintenance, ability to hover, and their vertical takeoff and landing (VTOL) capability. The dynamics and control of quad rotor are highly nonlinear and under actuated so it is considered as a test-rig to verify any new proposed nonlinear control algorithm. Different control algorithms were proposed and implemented to stabilize the UAV attitude, and altitude. Adaptive control and navigation algorithms also implemented in UAV platform to ensure the maneuvering against the internal and external disturbances. The proposed research paper explains the implementation of the developed digital control algorithm Delta-sigma modulatoan r (DSM) based controller for UAV to enhance the robustness.

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