Journal
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
Volume 51, Issue 3, Pages 1414-1423Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TSMC.2019.2896891
Keywords
Disturbance observers; Aerospace control; Helicopters; Space vehicles; Nonlinear systems; Disturbance observer; quadrotor; tracking control
Funding
- National Natural Science Foundation of China [61825302, 61533008]
- Jiangsu Natural Science Foundation of China [BK20171417]
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In this paper, a tracking flight control scheme based on a disturbance observer is proposed for a quadrotor with external disturbances. The scheme involves estimating unknown disturbances and developing flight controllers to track given signals. Experimental results demonstrate the effectiveness of the control strategy.
In this paper, a tracking flight control scheme is proposed based on a disturbance observer for a quadrotor with external disturbances. To facilitate the processing of external time-varying disturbances, it is assumed to consist of some harmonic disturbances. Then, a disturbance observer is proposed to estimate the unknown disturbance. By using the output of the disturbance observer, a flight controller of the quadrotor is developed to track the given signals which are generated by the reference model. Finally, the proposed control method is applied to flight control of the quadrotor Quanser Qball 2. The experimental results are presented to demonstrate the effectiveness of the developed control strategy.
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