Acceleration Feedback Enhanced H∞ Control of Unmanned Aerial Vehicle for Wind Disturbance Rejection

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

	Acceleration Feedback Enhanced H∞ Control of Unmanned Aerial Vehicle for Wind Disturbance Rejection
	Zhang GY(张广玉)3,4 ; Wang DW(王郸维)1; Dai B(代波)1,3,4 ; He YQ(何玉庆)2,4 ; Xu WL(徐卫良)5
	2018
会议日期	November 18-21, 2018
会议地点	Singapore
页码	1045-1050
英文摘要	Wind disturbance has always been a critical challenge for safety flight and high precision control of UAV due to the uncertainty of wind in time and space domain. To this end, an acceleration feedback (AF) enhanced H1 controller is proposed to enhanced the ability of UAV against wind disturbance and it has been designed and implemented on a hex-rotor. Firstly, the dynamic of UAV system is decoupled into inner-loop (attitude) and outer-loop (position). Then, a hierarchical H1 controller is designed for the decoupled system. Finally, a AF enhanced method is introduced into the system without changing controller structure. The stability of the AF enhanced method for the UAV system is analyzed and can be ensured by H1 theory as well. The comparison results of trajectory tracking performance between H1 controller and AF enhanced H1 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 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISSN号	2474-2953
ISBN号	978-1-5386-9582-1
WOS记录号	WOS:000459847700175
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/23866]
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.School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore 639798 2.Shenyang Institute of Automation (Guangzhou), Chinese Academy of Sciences, Guangdong 511458, China 3.University of Chinese Academy of Sciences, Beijing 100049, China 4.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 5.University of Auckland, Auckland 1010, New Zealand
推荐引用方式 GB/T 7714	Zhang GY,Wang DW,Dai B,et al. Acceleration Feedback Enhanced H∞ Control of Unmanned Aerial Vehicle for Wind Disturbance Rejection[C]. 见:. Singapore. November 18-21, 2018.