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Robust Acceleration Control of a Hexarotor UAV with a Disturbance Observer
KTH, School of Electrical Engineering (EES), Automatic Control.ORCID iD: 0000-0001-9940-5929
2016 (English)In: 2016 IEEE 55th Conference on Decision and Control, CDC 2016, Institute of Electrical and Electronics Engineers (IEEE), 2016, 4166-4171 p., 7798901Conference paper (Refereed)
Abstract [en]

This paper presents an acceleration control of a hexarotor unmanned aerial vehicle (UAV) in the earth fixed frame with a disturbance observer (DOB). Unlike conventional cascade control structures where the outer-loop position controller generates the desired attitude command, the position controller in this paper generates the desired acceleration command in X, V. Z axis of the earth-fixed frame. With acceleration control combined with DOB, the UAV could manage the lateral disturbance force that makes the trajectory tracking very challenging. This is a new concept compared with existing DOB-based UAV control approaches which aim to cancel the moment disturbance for precise attitude control. The small-gain theorem is used for stability analysis and Q-filter bandwidth design. Both simulation and actual experiment are shown to validate the performance of the proposed design.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2016. 4166-4171 p., 7798901
Series
IEEE Conference on Decision and Control, ISSN 0743-1546
Keyword [en]
Hexarotor, acceleration control, disturbance observer, small-gain theorem, robust position control
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-208566DOI: 10.1109/CDC.2016.7798901ISI: 000400048104059ScopusID: 2-s2.0-85010767475ISBN: 978-1-5090-1837-6 OAI: oai:DiVA.org:kth-208566DiVA: diva2:1109658
Conference
55th IEEE Conference on Decision and Control, CDC 2016, ARIA Resort and Casino, Las Vegas, United States, 12 December 2016 through 14 December 2016
Note

QC 20170614

Available from: 2017-06-14 Created: 2017-06-14 Last updated: 2017-06-14Bibliographically approved

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
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  • Other locale
More languages
Output format
  • html
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  • asciidoc
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