{"title":"基于离散时间滑模技术和扩展卡尔曼滤波的双旋翼飞行器鲁棒控制","authors":"H. Aschemann","doi":"10.1109/MMAR55195.2022.9874290","DOIUrl":null,"url":null,"abstract":"This paper proposes a discrete-time cascade control for a Duocopter which represents a two-rotor helicopter com-bined with a guiding mechanism: A nonlinear MIMO sliding mode control loop is responsible for the positioning of the Duocopter, while its rotation angle is controlled in a linear inner control loop. Feedforward control counteracts the nominal coupling forces related to the guidance. Moreover, an extended Kalman filter (EKF) estimates selected states and remaining errors concerning the nominal coupling forces. The sum of the feedforward part and the estimates can be used to robustly and accurately compensate for the impact of the guiding mechanism on the motion of the Duocopter. Thereby, an excellent tracking performance is achieved.","PeriodicalId":169528,"journal":{"name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2022-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Robust Control of a Duocopter by Discrete-Time Sliding Mode Techniques and an Extended Kalman Filter for Disturbance Compensation\",\"authors\":\"H. Aschemann\",\"doi\":\"10.1109/MMAR55195.2022.9874290\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper proposes a discrete-time cascade control for a Duocopter which represents a two-rotor helicopter com-bined with a guiding mechanism: A nonlinear MIMO sliding mode control loop is responsible for the positioning of the Duocopter, while its rotation angle is controlled in a linear inner control loop. Feedforward control counteracts the nominal coupling forces related to the guidance. Moreover, an extended Kalman filter (EKF) estimates selected states and remaining errors concerning the nominal coupling forces. The sum of the feedforward part and the estimates can be used to robustly and accurately compensate for the impact of the guiding mechanism on the motion of the Duocopter. Thereby, an excellent tracking performance is achieved.\",\"PeriodicalId\":169528,\"journal\":{\"name\":\"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)\",\"volume\":\"29 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2022-08-22\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/MMAR55195.2022.9874290\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/MMAR55195.2022.9874290","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Robust Control of a Duocopter by Discrete-Time Sliding Mode Techniques and an Extended Kalman Filter for Disturbance Compensation
This paper proposes a discrete-time cascade control for a Duocopter which represents a two-rotor helicopter com-bined with a guiding mechanism: A nonlinear MIMO sliding mode control loop is responsible for the positioning of the Duocopter, while its rotation angle is controlled in a linear inner control loop. Feedforward control counteracts the nominal coupling forces related to the guidance. Moreover, an extended Kalman filter (EKF) estimates selected states and remaining errors concerning the nominal coupling forces. The sum of the feedforward part and the estimates can be used to robustly and accurately compensate for the impact of the guiding mechanism on the motion of the Duocopter. Thereby, an excellent tracking performance is achieved.