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Wind Disturbance Rejection for Unmanned Aerial Vehicle Based on Acceleration Feedback Method
Dai B(代波)1,2; He YQ(何玉庆)1,3; Zhang GY(张广玉)1,2; Gu F(谷丰)1; Yang LY(杨丽英)1; Xu WL(徐卫良)4
Department机器人学研究室
Conference Name2018 IEEE Conference on Decision and Control (CDC)
Conference DateDecember 17-19, 2018
Conference PlaceMiami Beach, FL, USA
Source Publication2018 IEEE Conference on Decision and Control (CDC)
PublisherIEEE
Publication PlaceNew York
2018
Pages4680-4686
Indexed ByEI ; CPCI(ISTP)
EI Accession number20190906568760
WOS IDWOS:000458114804053
Contribution Rank1
ISSN0743-1546
ISBN978-1-5386-1395-5
AbstractWind disturbance has always been a critical issue for safety fiight of unmanned aerial vehicle (UAV) and increases the challenges for UAV system control. To this end, this paper presents an acceleration feedback (AF) method for UAV to enhance its ability of wind disturbance rejection. Compared with conventional AF control where only angular AF is used for precise attitude control, we further consider linear AF for precise position control. The proposed method was designed and implemented on a hex-rotor where a model free controller, cascaded PID, is used. In order to make it easy and fast to implement AF method on such model free system, a novel, effective and simple method for parameters identification of multi-rotor is proposed. The comparison results of trajectory tracking between PID and AF enhanced PID controller under continuous and gusty wind verify that the proposed method is not only robust but effective for both types of wind disturbances.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/23865
Collection机器人学研究室
Corresponding AuthorDai B(代波)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.University of Chinese Academy of Sciences, Beijing 100049, China
3.Shenyang Institute of Automation (Guangzhou), Chinese Academy of Sciences, Guangdong 511458, China
4.Department of Mechanical Engineering, the University of Auckland, Auckland 1010, New Zealand
Recommended Citation
GB/T 7714
Dai B,He YQ,Zhang GY,et al. Wind Disturbance Rejection for Unmanned Aerial Vehicle Based on Acceleration Feedback Method[C]. New York:IEEE,2018:4680-4686.
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