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
Full text not available from this repository. (Request a copy)Abstract
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 |
| URI: | https://repository.usp.ac.fj/id/eprint/12907 |
Actions (login required)
 |
View Item |