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Extended State Observer based control for coaxial-rotor UAV.
- Source :
- ISA Transactions; Mar2016, Vol. 61, p1-14, 14p
- Publication Year :
- 2016
-
Abstract
- This paper considers the problem of controlling the position and the orientation of a Coaxial-Rotor Unmanned Aerial Vehicle -CRUAV- despite unknown aerodynamic efforts. A hierarchical flight controller is designed, allowing the trajectory tracking and the stabilization of the vehicle. The designed controller is build through a hierarchical approach yielding two control loops, an inner one to control the attitude and an outer one to control the translational trajectory of the rotorcraft. An Extended State Observer -ESO- is used to estimate the state and the unknown aerodynamic disturbances. The analysis further extends to the design of a control law that takes the disturbance estimation procedure into account. Numerical simulations are carried out to demonstrate the efficiency of the proposed control strategy. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 00190578
- Volume :
- 61
- Database :
- Supplemental Index
- Journal :
- ISA Transactions
- Publication Type :
- Academic Journal
- Accession number :
- 113666207
- Full Text :
- https://doi.org/10.1016/j.isatra.2015.11.024