Wind Disturbance Rejection for Unmanned Aerial Vehicle Based on Acceleration Feedback Method

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Wind Disturbance Rejection for Unmanned Aerial Vehicle Based on Acceleration Feedback Method
	Gu F(谷丰)2 ; Xu WL(徐卫良)3 ; Dai B(代波)2,4 ; He YQ(何玉庆)1,2 ; Zhang GY(张广玉)2,4 ; Yang LY(杨丽英)2
	2018
会议日期	December 17-19, 2018
会议地点	Miami Beach, FL, USA
页码	4680-4686
英文摘要	Wind disturbance has always been a critical issue for safety fiight of unmanned aerial vehicle (UAV) and increases the challenges for UAV system control. To this end, this paper presents an acceleration feedback (AF) method for UAV to enhance its ability of wind disturbance rejection. Compared with conventional AF control where only angular AF is used for precise attitude control, we further consider linear AF for precise position control. The proposed method was designed and implemented on a hex-rotor where a model free controller, cascaded PID, is used. In order to make it easy and fast to implement AF method on such model free system, a novel, effective and simple method for parameters identification of multi-rotor is proposed. The comparison results of trajectory tracking between PID and AF enhanced PID controller under continuous and gusty wind verify that the proposed method is not only robust but effective for both types of wind disturbances.
产权排序	1
会议录	2018 IEEE Conference on Decision and Control (CDC)
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISSN号	0743-1546
ISBN号	978-1-5386-1395-5
WOS记录号	WOS:000458114804053
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/23865]
专题	沈阳自动化研究所_机器人学研究室
通讯作者	Dai B(代波)
作者单位	1.Shenyang Institute of Automation (Guangzhou), Chinese Academy of Sciences, Guangdong 511458, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 3.Department of Mechanical Engineering, the University of Auckland, Auckland 1010, New Zealand 4.University of Chinese Academy of Sciences, Beijing 100049, China
推荐引用方式 GB/T 7714	Gu F,Xu WL,Dai B,et al. Wind Disturbance Rejection for Unmanned Aerial Vehicle Based on Acceleration Feedback Method[C]. 见:. Miami Beach, FL, USA. December 17-19, 2018.