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UKF Based Two Time-Scale Control for a Quadrotor with Wind-Gust Disturbances

Authors :
Shude Ji
Qi Song
Source :
2018 3rd International Conference on Robotics and Automation Engineering (ICRAE).
Publication Year :
2018
Publisher :
IEEE, 2018.

Abstract

In this paper, a two time-scale based controller is developed for the problem of a quadrotor in the presence of wind-gust disturbances. A backstepping control and a model based PD control method are proposed to perform position (slow model) and attitude (fast model) control of the quadrotor, respectively. The wind-gust disturbances are regard as external forces and torques acting on quadrotor, which are estimated by two Square-Root Unscented Kalman filter (SR-UKF) in the fast and slow modes. Simulated results are presented to demonstrate the good performance of the controller even under wind-gust disturbances which are assumed as a mixture of multiple unknown sinusoidal signals.

Details

Database :
OpenAIRE
Journal :
2018 3rd International Conference on Robotics and Automation Engineering (ICRAE)
Accession number :
edsair.doi...........87aabe021a2de779547a2ff9ae284541
Full Text :
https://doi.org/10.1109/icrae.2018.8586767