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Robust motion control of nonlinear quadrotor model with wind disturbance observer

Azid, Sheikh I. and Kumar, Krishneel and Cirrincione, Maurizio and Fagiolini, Adriano (2021) Robust motion control of nonlinear quadrotor model with wind disturbance observer. IEEE Access, 9 . pp. 149164-149175. ISSN 2169-3536

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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.

Item Type: Journal Article
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: School of Information Technology, Engineering, Mathematics and Physics (STEMP)
Depositing User: Fulori Nainoca - Waqairagata
Date Deposited: 11 Nov 2021 02:34
Last Modified: 11 Nov 2021 02:52

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