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Robust Control of Quadrotor using Uncertainty and Disturbance Estimation
In this paper, a robust position and attitude tracking control problem of a quadrotor subject to system nonlinearities, input coupling, aerodynamic uncertainties and external wind disturbances is investigated. An uncertainty and disturbance estimator (UDE) based robustified nonlinear dynamic inversi...
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Published in: | Journal of intelligent & robotic systems 2021-03, Vol.101 (3), Article 60 |
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Main Authors: | , , , |
Format: | Article |
Language: | English |
Subjects: | |
Citations: | Items that this one cites Items that cite this one |
Online Access: | Get full text |
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Summary: | In this paper, a robust position and attitude tracking control problem of a quadrotor subject to system nonlinearities, input coupling, aerodynamic uncertainties and external wind disturbances is investigated. An uncertainty and disturbance estimator (UDE) based robustified nonlinear dynamic inversion (NDI) control scheme is proposed for the purpose. The UDE technique robustifies the NDI based controller by providing estimate of the lumped or total disturbance thereby enabling rejection of the same. The effectiveness and benefits of the proposed scheme are confirmed through six–DOF simulations considering nonlinear quadrotor dynamics under ideal as well as perturbed flight conditions. Further, the efficacy and superiority of the proposed control scheme are validated through Monte–Carlo simulations and experimental validation on Quanser’s 3–DOF Hover setup. |
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ISSN: | 0921-0296 1573-0409 |
DOI: | 10.1007/s10846-021-01325-1 |