Frequency-Based Wind Gust Estimation for Quadrotors Using a Nonlinear Disturbance Observer

In city-wide weather prediction, wind gust information can be obtained using unmanned aerial vehicles (UAVs). Although wind sensors are available, an algorithm-based active estimation can be helpful not only as a weightless substitute but also as feedback for robust control. This paper aims to estim...

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Bibliographic Details
Published in:IEEE robotics and automation letters 2022-10, Vol.7 (4), p.9224-9231
Main Authors: Asignacion, Abner, Suzuki, Satoshi, Noda, Ryusuke, Nakata, Toshiyuki, Liu, Hao
Format: Article
Language:English
Subjects:
Aerial Systems: Applications
aerial systems: mechanics and control
Algorithms
Computational modeling
Convergence
Design parameters
disturbance observer
Disturbance observers
Estimation
Frequency estimation
Frequency ranges
fuzzy
Gusts
Robust control
Rotary wing aircraft
Rotors
Unmanned aerial vehicles
Weather forecasting
Wind
Wind speed
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Summary:In city-wide weather prediction, wind gust information can be obtained using unmanned aerial vehicles (UAVs). Although wind sensors are available, an algorithm-based active estimation can be helpful not only as a weightless substitute but also as feedback for robust control. This paper aims to estimate the wind gusts affecting the quadrotors (a type of UAV) as the input disturbances by using a frequency-based nonlinear disturbance observer (NDOB). To obtain highly accurate estimations, frequency is considered as the main design parameter, thereby focusing the estimation on the frequency range of the wind gusts. The NDOB is developed using the Takagi-Sugeno (T-S) fuzzy framework. In this approach, the twelfth-order nonlinear model is approximated into a sixth-order T-S fuzzy model to reduce computational cost. A two-step verification method is presented, which includes MATLAB/Simulink simulations and the experiments performed using a 2.5 kg quadrotor.
ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2022.3190073