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Disturbance estimation for RUAV using UKF with acceleration measurement
Jiang ZY(江紫亚); He YQ(何玉庆); Han JD(韩建达)
作者部门机器人学研究室
会议名称2015 IEEE International Conference on Mechatronics and Automation (ICMA)
会议日期August 2-5, 2015
会议地点Beijing
会议录名称2015 IEEE International Conference on Mechatronics and Automation (ICMA)
出版者IEEE
出版地Piscataway, NJ, USA
2015
页码500-505
收录类别EI ; CPCI(ISTP)
EI收录号20160501860161
WOS记录号WOS:000380447600091
产权排序1
ISBN号978-1-4799-7098-8
关键词Disturbance Estimation Unscented Kalman Filer (Ukf) Rotorcraft Unmanned Aerial Vehicle (Ruav) Acceleration Measurement
摘要Rotorcraft unmanned aerial vehicles (RUAV) have been widely used in many fields. However, one of the bottleneck problems of RUAV control is how to ensure its motion steady under huge external disturbances such as wind. In this paper, a new algorithm on disturbance estimation is proposed using UKF algorithm and acceleration measurements. Firstly, the disturbance is regarded as an expanded state of the attitude dynamics of RUAV which is actuated by white noises; subsequently, the expanded dynamic system is rewritten into discrete form thus the UKF strategy can be utilized; then, UKFs with different information in the measurement equations are conducted to estimate the disturbance; finally, simulations are carried out and the results show that UKF with measurements of both Euler angles and angular accelerations has the fastest response to disturbance tracking, the least mean square of estimation errors and certain extent of robustness since acceleration is supposed to be a direct reflection of disturbance.
语种英语
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被引频次:2[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/17461
专题机器人学研究室
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
推荐引用方式
GB/T 7714
Jiang ZY,He YQ,Han JD. Disturbance estimation for RUAV using UKF with acceleration measurement[C]. Piscataway, NJ, USA:IEEE,2015:500-505.
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