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Wind disturbance rejection for unmanned aerial vehicles using acceleration feedback enhanced H∞ method
Dai B(代波)1,2,3; He YQ(何玉庆)1,2; Zhang GY(张广玉)1,2,3; Gu F(谷丰)1,2; Yang LY(杨丽英)1,2; Xu WL(徐卫良)4
Department机器人学研究室
Corresponding AuthorHe, Yuqing(heyuqing@sia.cn)
Source PublicationAutonomous Robots
ISSN0929-5593
2020
Pages15
Indexed BySCI ; EI
EI Accession number20203108990702
WOS IDWOS:000552242800001
Contribution Rank1
Funding OrganizationNational Key Research and Development Program of China ; National Natural Science Foundation of China ; Youth Innovation Promotion Association
KeywordWind disturbance rejection Acceleration feedback Unmanned aerial vehicle H∞ control
Abstract

One of the most critical issues for unmanned aerial vehicle (UAV) safety and precision flight is wind disturbance. To this end, this paper presents an acceleration feedback (AF) enhanced H∞ method for UAV flight control against wind disturbance and its application on a hex-rotor platform. The dynamics of the UAV system are decoupled into attitude control and position control loops. A hierarchical H∞ controller is then designed for the decoupled system. Finally, an AF-enhanced method is introduced into the decoupled system without altering the original control structure. The stability of the AF-enhanced H∞ method for the UAV system is analyzed and verified using the H∞ theory. Two types of wind disturbances—continuous and gusty winds—are considered and analyzed for guiding the AF-enhanced controller design. The results of an experimental comparison between the H∞ controller and the AF-enhanced H∞ controller against wind disturbances demonstrate the robustness and effectiveness of the proposed method for wind disturbance rejection.

Language英语
WOS SubjectComputer Science, Artificial Intelligence ; Robotics
WOS KeywordTRAJECTORY TRACKING CONTROL ; OBSERVER ; POSITION ; UAV
WOS Research AreaComputer Science ; Robotics
Funding ProjectNational Key Research and Development Program of China[2017YFC1405401] ; National Natural Science Foundation of China[91748130] ; National Natural Science Foundation of China[61821005] ; Youth Innovation Promotion Association[2018232]
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/27385
Collection机器人学研究室
Corresponding AuthorHe YQ(何玉庆)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang 110016, China
2.Institutes for Robotics and Intelligent Manufacturing, CAS, Shenyang
3.110016, China
4.University of Chinese Academy of Sciences, Beijing 100049, China
5.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 vehicles using acceleration feedback enhanced H∞ method[J]. Autonomous Robots,2020:15.
APA Dai B,He YQ,Zhang GY,Gu F,Yang LY,&Xu WL.(2020).Wind disturbance rejection for unmanned aerial vehicles using acceleration feedback enhanced H∞ method.Autonomous Robots,15.
MLA Dai B,et al."Wind disturbance rejection for unmanned aerial vehicles using acceleration feedback enhanced H∞ method".Autonomous Robots (2020):15.
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