Precise Trajectory Tracking of Multi-Rotor UAVs using Wind Disturbance Rejection Approach

Sheikh Izzal Azid; Sohail Ahmad Ali; Meshach Kumar; Maurizio Cirrincione; Adriano Fagiolini

doi:10.1109/ACCESS.2023.3308297

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Precise Trajectory Tracking of Multi-Rotor UAVs using Wind Disturbance Rejection Approach

Journal article

Open access

Peer reviewed

Precise Trajectory Tracking of Multi-Rotor UAVs using Wind Disturbance Rejection Approach

Sheikh Izzal Azid, Sohail Ahmad Ali, Meshach Kumar, Maurizio Cirrincione and Adriano Fagiolini

IEEE access, Vol.11, pp.1-1

2023

DOI: https://doi.org/10.1109/ACCESS.2023.3308297

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Abstract

Aircraft

Disturbance Rejection

Lipschitz Observer

Observers

Quadrotor

Quadrotors

Rotors

Sensor systems

Trajectory

Trajectory tracking

Uncertainty

This paper discusses the resilience of the UAV quadrotor to wind disturbances. An unknown input-state observer is presented that uses the Lipschitz method to estimate the internal states and disturbances of the quadrotor and compensate for them by varying the velocities of the four rotors. The observer intends to use existing sensor measurements to estimate the unknown states of the quadrotor and reconstruct the three-dimensional wind disturbances. The estimated states and external disturbances are sent to the PD controller, which compensates for the disturbances to achieve the desired position and attitude, as well as robustness and accuracy. The Lipschitz observer was designed using the LMI approach, and the results were validated using Matlab/Simulink and using the Parrot Mambo mini quadrotor.

Details

Title: Precise Trajectory Tracking of Multi-Rotor UAVs using Wind Disturbance Rejection Approach
Authors/Creators: Sheikh Izzal Azid - Charles Darwin University
Sohail Ahmad Ali - North Australia Centre for Autonomous Systems, Charles Darwin University, Darwin, Australia
Meshach Kumar - School of Information Technology, Engineering, Mathematics and Physics, The University of the South Pacific, Suva, Fiji
Maurizio Cirrincione - School of Information Technology, Engineering, Mathematics and Physics, The University of the South Pacific, Suva, Fiji
Adriano Fagiolini - University of Palermo
Publication Details: IEEE access, Vol.11, pp.1-1
Publisher: IEEE
Identifiers: 991005654370307891
Murdoch Affiliation: Murdoch University
Language: English
Resource Type: Journal article

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Collaboration types: Domestic collaboration; International collaboration
Citation topics: 4 Electrical Engineering, Electronics & Computer Science; 4.29 Automation & Control Systems; 4.29.104 Adaptive Control
Web Of Science research areas: Computer Science, Information Systems; Engineering, Electrical & Electronic; Telecommunications
ESI research areas: Engineering