| Wind disturbance rejection for unmanned aerial vehicles using acceleration feedback enhanced H∞ method | |
Dai B(代波)1,2,3 ; He YQ(何玉庆)1,2; Zhang GY(张广玉)1,2,3; Gu F(谷丰)1,2; Yang LY(杨丽英)1,2; Xu WL(徐卫良)4
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| Department | 机器人学研究室 |
| Source Publication | Autonomous Robots
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| ISSN | 0929-5593 |
| 2020 | |
| Volume | 44Issue:7Pages:1271–1285 |
| Indexed By | SCI ; EI |
| EI Accession number | 20203108990702 |
| WOS ID | WOS:000552242800001 |
| Contribution Rank | 1 |
| Funding Organization | National Key Research and Development Program of China ; National Natural Science Foundation of China ; Youth Innovation Promotion Association |
| Keyword | Wind disturbance rejection Acceleration feedback Unmanned aerial vehicle H∞ control |
| Abstract | One of the most critical issues for unmanned aerial vehicle (UAV) safety and precision flight is wind disturbance. To this end, this paper presents an acceleration feedback (AF) enhanced H∞ method for UAV flight control against wind disturbance and its application on a hex-rotor platform. The dynamics of the UAV system are decoupled into attitude control and position control loops. A hierarchical H∞ controller is then designed for the decoupled system. Finally, an AF-enhanced method is introduced into the decoupled system without altering the original control structure. The stability of the AF-enhanced H∞ method for the UAV system is analyzed and verified using the H∞ theory. Two types of wind disturbances—continuous and gusty winds—are considered and analyzed for guiding the AF-enhanced controller design. The results of an experimental comparison between the H∞ controller and the AF-enhanced H∞ controller against wind disturbances demonstrate the robustness and effectiveness of the proposed method for wind disturbance rejection. |
| Language | 英语 |
| WOS Subject | Computer Science, Artificial Intelligence ; Robotics |
| WOS Keyword | TRAJECTORY TRACKING CONTROL ; OBSERVER ; POSITION ; UAV |
| WOS Research Area | Computer Science ; Robotics |
| Funding Project | National Key Research and Development Program of China[2017YFC1405401] ; National Natural Science Foundation of China[91748130] ; National Natural Science Foundation of China[61821005] ; Youth Innovation Promotion Association[2018232] |
| Citation statistics | |
| Document Type | 期刊论文 |
| Identifier | http://ir.sia.cn/handle/173321/27385 |
| Collection | 机器人学研究室 |
| Corresponding Author | He YQ(何玉庆) |
| Affiliation | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang 110016, China 2.Institutes for Robotics and Intelligent Manufacturing, CAS, Shenyang 3.110016, China 4.University of Chinese Academy of Sciences, Beijing 100049, China 5.University of Auckland, Auckland 1010, New Zealand |
| Recommended Citation GB/T 7714 | Dai B,He YQ,Zhang GY,et al. Wind disturbance rejection for unmanned aerial vehicles using acceleration feedback enhanced H∞ method[J]. Autonomous Robots,2020,44(7):1271–1285. |
| APA | Dai B,He YQ,Zhang GY,Gu F,Yang LY,&Xu WL.(2020).Wind disturbance rejection for unmanned aerial vehicles using acceleration feedback enhanced H∞ method.Autonomous Robots,44(7),1271–1285. |
| MLA | Dai B,et al."Wind disturbance rejection for unmanned aerial vehicles using acceleration feedback enhanced H∞ method".Autonomous Robots 44.7(2020):1271–1285. |
| Files in This Item: | ||||||
| File Name/Size | DocType | Version | Access | License | ||
| Wind disturbance rej（4345KB） | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | View Application Full Text | |
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