Robust Motion Control of Nonlinear Quadrotor Model With Wind Disturbance Observer

This paper focuses on robust wind disturbance rejection for nonlinear quadrotor models. By leveraging on nonlinear unknown observer theory, it proposes a nonlinear dynamic filter that, using sensors already on-board the aircraft, can estimate in real-time wind gust signals in the three dimensions. T...

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Autores principales:	Sheikh Izzal Azid, Krishneel Kumar, Maurizio Cirrincione, Adriano Fagiolini
Formato:	article
Lenguaje:	EN
Publicado:	IEEE 2021
Materias:	Nonlinear unknown input observers unknown wind gust estimation and compensation quadrotor PD control Electrical engineering. Electronics. Nuclear engineering TK1-9971
Acceso en línea:	https://doaj.org/article/3e671a633fb844a1ab3ce7dc6412d24a
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id	oai:doaj.org-article:3e671a633fb844a1ab3ce7dc6412d24a
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spelling	oai:doaj.org-article:3e671a633fb844a1ab3ce7dc6412d24a2021-11-18T00:07:59ZRobust Motion Control of Nonlinear Quadrotor Model With Wind Disturbance Observer2169-353610.1109/ACCESS.2021.3124609https://doaj.org/article/3e671a633fb844a1ab3ce7dc6412d24a2021-01-01T00:00:00Zhttps://ieeexplore.ieee.org/document/9597497/https://doaj.org/toc/2169-3536This paper focuses on robust wind disturbance rejection for nonlinear quadrotor models. By leveraging on nonlinear unknown observer theory, it proposes a nonlinear dynamic filter that, using sensors already on-board the aircraft, can estimate in real-time wind gust signals in the three dimensions. The wind disturbance is then treated as input to the PD controller for a quick and robust flight pathway in presence of disturbances. With this scheme, the wind disturbance can be precisely estimated online and compensated in real-time. Hence, the quadrotor can successfully reach its desired attitude and position. To show the effective and desired performance of the method, simulation results are presented in Matlab/Simulink and ROS-enabled Gazebo platform.Sheikh Izzal AzidKrishneel KumarMaurizio CirrincioneAdriano FagioliniIEEEarticleNonlinear unknown input observersunknown wind gust estimation and compensationquadrotorPD controlElectrical engineering. Electronics. Nuclear engineeringTK1-9971ENIEEE Access, Vol 9, Pp 149164-149175 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Nonlinear unknown input observers unknown wind gust estimation and compensation quadrotor PD control Electrical engineering. Electronics. Nuclear engineering TK1-9971
spellingShingle	Nonlinear unknown input observers unknown wind gust estimation and compensation quadrotor PD control Electrical engineering. Electronics. Nuclear engineering TK1-9971 Sheikh Izzal Azid Krishneel Kumar Maurizio Cirrincione Adriano Fagiolini Robust Motion Control of Nonlinear Quadrotor Model With Wind Disturbance Observer
description	This paper focuses on robust wind disturbance rejection for nonlinear quadrotor models. By leveraging on nonlinear unknown observer theory, it proposes a nonlinear dynamic filter that, using sensors already on-board the aircraft, can estimate in real-time wind gust signals in the three dimensions. The wind disturbance is then treated as input to the PD controller for a quick and robust flight pathway in presence of disturbances. With this scheme, the wind disturbance can be precisely estimated online and compensated in real-time. Hence, the quadrotor can successfully reach its desired attitude and position. To show the effective and desired performance of the method, simulation results are presented in Matlab/Simulink and ROS-enabled Gazebo platform.
format	article
author	Sheikh Izzal Azid Krishneel Kumar Maurizio Cirrincione Adriano Fagiolini
author_facet	Sheikh Izzal Azid Krishneel Kumar Maurizio Cirrincione Adriano Fagiolini
author_sort	Sheikh Izzal Azid
title	Robust Motion Control of Nonlinear Quadrotor Model With Wind Disturbance Observer
title_short	Robust Motion Control of Nonlinear Quadrotor Model With Wind Disturbance Observer
title_full	Robust Motion Control of Nonlinear Quadrotor Model With Wind Disturbance Observer
title_fullStr	Robust Motion Control of Nonlinear Quadrotor Model With Wind Disturbance Observer
title_full_unstemmed	Robust Motion Control of Nonlinear Quadrotor Model With Wind Disturbance Observer
title_sort	robust motion control of nonlinear quadrotor model with wind disturbance observer
publisher	IEEE
publishDate	2021
url	https://doaj.org/article/3e671a633fb844a1ab3ce7dc6412d24a
work_keys_str_mv	AT sheikhizzalazid robustmotioncontrolofnonlinearquadrotormodelwithwinddisturbanceobserver AT krishneelkumar robustmotioncontrolofnonlinearquadrotormodelwithwinddisturbanceobserver AT mauriziocirrincione robustmotioncontrolofnonlinearquadrotormodelwithwinddisturbanceobserver AT adrianofagiolini robustmotioncontrolofnonlinearquadrotormodelwithwinddisturbanceobserver
_version_	1718425219451846656

Robust Motion Control of Nonlinear Quadrotor Model With Wind Disturbance Observer

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