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Acceleration Feedback Enhanced H∞ Control of Unmanned Aerial Vehicle for Wind Disturbance Rejection
Dai B(代波)1,2,5; He YQ(何玉庆)1,3; Zhang GY(张广玉)1,2; Xu WL(徐卫良)4; Wang DW(王郸维)5
Department机器人学研究室
Conference Name2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)
Conference DateNovember 18-21, 2018
Conference PlaceSingapore
Source Publication2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)
PublisherIEEE
Publication PlaceNew York
2018
Pages1045-1050
Indexed ByEI ; CPCI(ISTP)
EI Accession number20190506457650
WOS IDWOS:000459847700175
Contribution Rank1
ISSN2474-2953
ISBN978-1-5386-9582-1
AbstractWind disturbance has always been a critical challenge for safety flight and high precision control of UAV due to the uncertainty of wind in time and space domain. To this end, an acceleration feedback (AF) enhanced H1 controller is proposed to enhanced the ability of UAV against wind disturbance and it has been designed and implemented on a hex-rotor. Firstly, the dynamic of UAV system is decoupled into inner-loop (attitude) and outer-loop (position). Then, a hierarchical H1 controller is designed for the decoupled system. Finally, a AF enhanced method is introduced into the system without changing controller structure. The stability of the AF enhanced method for the UAV system is analyzed and can be ensured by H1 theory as well. The comparison results of trajectory tracking performance between H1 controller and AF enhanced H1 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/173321/23866
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.University of Auckland, Auckland 1010, New Zealand
5.School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore 639798
Recommended Citation
GB/T 7714
Dai B,He YQ,Zhang GY,et al. Acceleration Feedback Enhanced H∞ Control of Unmanned Aerial Vehicle for Wind Disturbance Rejection[C]. New York:IEEE,2018:1045-1050.
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