Robust Motion Control of Nonlinear Quadrotor Model With Wind Disturbance Observer

Sheikh Izzal Azid; Krishneel Kumar; Maurizio Cirrincione; Adriano Fagiolini

doi:10.1109/ACCESS.2021.3124609

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Robust Motion Control of Nonlinear Quadrotor Model With Wind Disturbance Observer

Journal article

Open access

Peer reviewed

Robust Motion Control of Nonlinear Quadrotor Model With Wind Disturbance Observer

Sheikh Izzal Azid, Krishneel Kumar, Maurizio Cirrincione and Adriano Fagiolini

IEEE access, Vol.9, pp.149164-149175

2021

DOI: https://doi.org/10.1109/ACCESS.2021.3124609

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Abstract

Computer Science

Computer Science, Information Systems

Engineering

Engineering, Electrical & Electronic

Science & Technology

Technology

Telecommunications

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.

Details

Title: Robust Motion Control of Nonlinear Quadrotor Model With Wind Disturbance Observer
Authors/Creators: Sheikh Izzal Azid - Charles Darwin University
Krishneel Kumar - University of Genoa
Maurizio Cirrincione - University of the South Pacific
Adriano Fagiolini - University of Palermo
Publication Details: IEEE access, Vol.9, pp.149164-149175
Publisher: IEEE
Number of pages: 12
Grant note: CORI-2017-D-D07-010083 / University of Palermo, Palermo CORI-2017-D-D07-010083 / University of the South Pacic
Identifiers: 991005654369207891
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