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Alternative TitleAcceleration Feedback Enhanced Controller forWind Disturbance Rejection of Rotor Unmanned Aerial Vehicle
代波1,2,3; 何玉庆1,2; 谷丰1,2; 王骞翰1; 徐卫良4
Source Publication机器人
Indexed ByEI
EI Accession number20201608416938
Contribution Rank1
Funding Organization国家重点研发计划(2017YFD0701002, 2018YFC0810100) ; 国家自然科学基金联合基金(U1608253)
Keyword无人机 加速度反馈 抗风扰 参数辨识


Other Abstract

In order to enhance the wind rejection ability of unmanned aerial vehicle (UAV) to achieve safe flight and precision control, a wind disturbance rejection method based on acceleration feedback (AF) is proposed for rotor UAV. By introducing linear and angular AF into the original controller, a faster and more accurate attitude and position tracking performance can be obtained without changing the structure of the original controller. Moreover, a simple and fast UAV parameters identification method suitable for acceleration feedback is proposed to deploy AF on a practical UAV system. By using the proposed method, AF is deployed on a hex-rotor and tested in outdoor environment with continuous or gusty winds. The experimental results demonstrate that the AF enhanced controller can suppress these two kinds of wind disturbances effectively and the control accuracy of UAV system is greatly improved.

Document Type期刊论文
Corresponding Author代波
Recommended Citation
GB/T 7714
代波,何玉庆,谷丰,等. 基于加速度反馈增强的旋翼无人机抗风扰控制[J]. 机器人,2020,42(1):79-88.
APA 代波,何玉庆,谷丰,王骞翰,&徐卫良.(2020).基于加速度反馈增强的旋翼无人机抗风扰控制.机器人,42(1),79-88.
MLA 代波,et al."基于加速度反馈增强的旋翼无人机抗风扰控制".机器人 42.1(2020):79-88.
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