Direct position control of an octarotor unmanned vehicle under wind gust disturbance

A. Baldini, R. Felicetti, A. Freddi, S. Longhi, A. Monteriù
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引用次数: 2

Abstract

In this paper we present the design of a direct position control law of an octarotor under the presence of wind gust. The nominal control law is designed on a Newton-Euler model using a feedback linearisation technique, where a double integral control law is chosen in order to decouple the controlled variables’ dynamics. Then, the wind gust effect is attenuated through an additive correction term, which is based on disturbance observer. An exogenous system is considered in order to estimate the wind gust derivatives, and the overall closed loop boundedness is discussed. Numerical simulations are then reported in order to show the effectiveness of the control scheme, where the observer based technique is compared with the nominal one.
阵风扰动下转子无人驾驶飞行器的直接位置控制
本文提出了在阵风作用下转子直接位置控制律的设计。标称控制律使用反馈线性化技术在牛顿-欧拉模型上设计,其中选择二重积分控制律以解耦被控变量的动态。然后,通过基于扰动观测器的加性校正项对阵风效应进行衰减。考虑一个外生系统来估计阵风导数,并讨论了整体闭环的有界性。数值模拟然后报告,以显示控制方案的有效性,其中基于观测器的技术与标称的比较。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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