| Acceleration Feedback Enhanced H∞ Control of Unmanned Aerial Vehicle for Wind Disturbance Rejection | |
Dai B(代波)1,2,5 ; He YQ(何玉庆)1,3; Zhang GY(张广玉)1,2; Xu WL(徐卫良)4; Wang DW(王郸维)5
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| Department | 机器人学研究室 |
| Conference Name | 2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) |
| Conference Date | November 18-21, 2018 |
| Conference Place | Singapore |
| Source Publication | 2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) |
| Publisher | IEEE |
| Publication Place | New York |
| 2018 | |
| Pages | 1045-1050 |
| Indexed By | EI ; CPCI（ISTP） |
| EI Accession number | 20190506457650 |
| WOS ID | WOS:000459847700175 |
| Contribution Rank | 1 |
| ISSN | 2474-2953 |
| ISBN | 978-1-5386-9582-1 |
| Abstract | Wind disturbance has always been a critical challenge for safety flight and high precision control of UAV due to the uncertainty of wind in time and space domain. To this end, an acceleration feedback (AF) enhanced H1 controller is proposed to enhanced the ability of UAV against wind disturbance and it has been designed and implemented on a hex-rotor. Firstly, the dynamic of UAV system is decoupled into inner-loop (attitude) and outer-loop (position). Then, a hierarchical H1 controller is designed for the decoupled system. Finally, a AF enhanced method is introduced into the system without changing controller structure. The stability of the AF enhanced method for the UAV system is analyzed and can be ensured by H1 theory as well. The comparison results of trajectory tracking performance between H1 controller and AF enhanced H1 controller under continuous and gusty wind verify that the proposed method is not only robust but effective for both types of wind disturbances. |
| Language | 英语 |
| Citation statistics | |
| Document Type | 会议论文 |
| Identifier | http://ir.sia.cn/handle/173321/23866 |
| Collection | 机器人学研究室 |
| Corresponding Author | Dai B(代波) |
| Affiliation | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 2.University of Chinese Academy of Sciences, Beijing 100049, China 3.Shenyang Institute of Automation (Guangzhou), Chinese Academy of Sciences, Guangdong 511458, China 4.University of Auckland, Auckland 1010, New Zealand 5.School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore 639798 |
| Recommended Citation GB/T 7714 | Dai B,He YQ,Zhang GY,et al. Acceleration Feedback Enhanced H∞ Control of Unmanned Aerial Vehicle for Wind Disturbance Rejection[C]. New York:IEEE,2018:1045-1050. |
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| File Name/Size | DocType | Version | Access | License | ||
| Acceleration Feedbac（1212KB） | 会议论文 | 开放获取 | CC BY-NC-SA | View Download | ||
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