无人机阵风估计的线性观测器

2015 12th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE) Pub Date : 2015-12-17 DOI:10.1109/ICEEE.2015.7357983

A. Martinez-Vasquez, A. Rodriguez-mata, I. González-Hernández, S. Salazar, Alejandro Montiel-Varela, R. Lozano

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引用次数: 10

摘要

研究了四旋翼飞行器中阵风扰动的估计问题。提出了一种用于估计风扰动的积分作用线性观测器。对所提出的控制律的测试性能进行了仿真和实时验证。基于GPS传感器信号，实现了悬停飞行模式下的实时测试。

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Linear observer for estimating wind gust in UAV's

This paper deals with the problem of estimating the disturbances due a wind gust in a Quadrotor rotorcraft. A linear observer with integral action for estimating the disturbance due a wind is presented. Simulation and real-time result are presented for test performance of control law proposed. The real-time test was ralized in hover fly mode based on GPS sensor signal.

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来源期刊

2015 12th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE)

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