Acceleration Feedback Enhanced H∞ Control of Unmanned Aerial Vehicle for Wind Disturbance Rejection
文献类型：会议论文
| 作者 | Zhang GY(张广玉)3,4 ; Wang DW(王郸维)1; Dai B(代波)1,3,4; He YQ(何玉庆)2,4; Xu WL(徐卫良)5
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| 出版日期 | 2018 |
| 会议日期 | November 18-21, 2018 |
| 会议地点 | Singapore |
| 页码 | 1045-1050 |
| 英文摘要 | Wind disturbance has always been a critical challenge for safety flight and high precision control of UAV due to the uncertainty of wind in time and space domain. To this end, an acceleration feedback (AF) enhanced H1 controller is proposed to enhanced the ability of UAV against wind disturbance and it has been designed and implemented on a hex-rotor. Firstly, the dynamic of UAV system is decoupled into inner-loop (attitude) and outer-loop (position). Then, a hierarchical H1 controller is designed for the decoupled system. Finally, a AF enhanced method is introduced into the system without changing controller structure. The stability of the AF enhanced method for the UAV system is analyzed and can be ensured by H1 theory as well. The comparison results of trajectory tracking performance between H1 controller and AF enhanced H1 controller under continuous and gusty wind verify that the proposed method is not only robust but effective for both types of wind disturbances. |
| 产权排序 | 1 |
| 会议录 | 2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)
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| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISSN号 | 2474-2953 |
| ISBN号 | 978-1-5386-9582-1 |
| WOS记录号 | WOS:000459847700175 |
| 源URL | [http://ir.sia.cn/handle/173321/23866]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Dai B(代波) |
| 作者单位 | 1.School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore 639798 2.Shenyang Institute of Automation (Guangzhou), Chinese Academy of Sciences, Guangdong 511458, China 3.University of Chinese Academy of Sciences, Beijing 100049, China 4.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 5.University of Auckland, Auckland 1010, New Zealand |
| 推荐引用方式 GB/T 7714 | Zhang GY,Wang DW,Dai B,et al. Acceleration Feedback Enhanced H∞ Control of Unmanned Aerial Vehicle for Wind Disturbance Rejection[C]. 见:. Singapore. November 18-21, 2018. |
入库方式： OAI收割
来源：沈阳自动化研究所
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