This paper proposes a discrete-time, multi-time-scale estimation and control design for quadrotors in the presence of external disturbances and model uncertainties. Assuming that not all state measurements are available, they will need to be estimated. The sample-data Extended High-Gain Observers are used to estimate unmeasured states, system uncertainties, and external disturbances. Discretized dynamic inversion utilizes those estimates and deals with an uncertain principal inertia matrix. In the plant dynamics, the proposed control forces the rotational dynamics to be faster than the translational dynamics. Numerical simulations and experimental results verify the proposed estimation and control algorithm. All sensing and computation is done on-board the vehicle.
|Title of host publication||Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control|
|Publisher||American Society of Mechanical Engineers|
|Publication status||Published - 2016|
|Event||ASME 2016 Dynamic Systems and Control Conference, DSCC 2016 - Minneapolis, United States|
Duration: 2016 Oct 12 → 2016 Oct 14
|Name||ASME 2016 Dynamic Systems and Control Conference, DSCC 2016|
|Other||ASME 2016 Dynamic Systems and Control Conference, DSCC 2016|
|Period||16/10/12 → 16/10/14|
Bibliographical notePublisher Copyright:
Copyright © 2016 by ASME.
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Industrial and Manufacturing Engineering
- Mechanical Engineering