Abstract
This paper proposes an output feedback control design for quadrotor Unmanned Aerial Vehicles (UAVs) to deal with unmeasured system states, system uncertainties, and external disturbances. Extended High-Gain Observers (EHGOs) are used to estimate the uncertainties and unmeasured system states. Dynamic inversion utilizes the estimates fromEHGOs in the second and third fastest time scales in order to deal with input uncertainties and a form of non-affine control inputs. In plant dynamics, rotational dynamics in the fourth fastest time scale, is forced to be faster than translational dynamics in the slowest time scale to overcome the lack of the number of control inputs in this underactuated mechanical system. Using the singular perturbation method, stability of the closed-loop system is conducted. Throughout numerical simulations, the proposed control algorithm is verified.
| Original language | English |
|---|---|
| Title of host publication | Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2 |
| Subtitle of host publication | Hybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems |
| Publisher | American Society of Mechanical Engineers |
| ISBN (Electronic) | 9780791857243 |
| DOIs | |
| Publication status | Published - 2015 Jan 1 |
| Event | ASME 2015 Dynamic Systems and Control Conference, DSCC 2015 - Columbus, United States Duration: 2015 Oct 28 → 2015 Oct 30 |
Publication series
| Name | ASME 2015 Dynamic Systems and Control Conference, DSCC 2015 |
|---|---|
| Volume | 1 |
Other
| Other | ASME 2015 Dynamic Systems and Control Conference, DSCC 2015 |
|---|---|
| Country | United States |
| City | Columbus |
| Period | 15/10/28 → 15/10/30 |
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All Science Journal Classification (ASJC) codes
- Industrial and Manufacturing Engineering
- Mechanical Engineering
- Control and Systems Engineering
Cite this
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Output feedback control design for quadrotors in the presence of uncertainties. / Lee, Joonho; Choi, Jongeun.
Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2: Hybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems. American Society of Mechanical Engineers, 2015. (ASME 2015 Dynamic Systems and Control Conference, DSCC 2015; Vol. 1).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
TY - GEN
T1 - Output feedback control design for quadrotors in the presence of uncertainties
AU - Lee, Joonho
AU - Choi, Jongeun
PY - 2015/1/1
Y1 - 2015/1/1
N2 - This paper proposes an output feedback control design for quadrotor Unmanned Aerial Vehicles (UAVs) to deal with unmeasured system states, system uncertainties, and external disturbances. Extended High-Gain Observers (EHGOs) are used to estimate the uncertainties and unmeasured system states. Dynamic inversion utilizes the estimates fromEHGOs in the second and third fastest time scales in order to deal with input uncertainties and a form of non-affine control inputs. In plant dynamics, rotational dynamics in the fourth fastest time scale, is forced to be faster than translational dynamics in the slowest time scale to overcome the lack of the number of control inputs in this underactuated mechanical system. Using the singular perturbation method, stability of the closed-loop system is conducted. Throughout numerical simulations, the proposed control algorithm is verified.
AB - This paper proposes an output feedback control design for quadrotor Unmanned Aerial Vehicles (UAVs) to deal with unmeasured system states, system uncertainties, and external disturbances. Extended High-Gain Observers (EHGOs) are used to estimate the uncertainties and unmeasured system states. Dynamic inversion utilizes the estimates fromEHGOs in the second and third fastest time scales in order to deal with input uncertainties and a form of non-affine control inputs. In plant dynamics, rotational dynamics in the fourth fastest time scale, is forced to be faster than translational dynamics in the slowest time scale to overcome the lack of the number of control inputs in this underactuated mechanical system. Using the singular perturbation method, stability of the closed-loop system is conducted. Throughout numerical simulations, the proposed control algorithm is verified.
UR - http://www.scopus.com/inward/record.url?scp=84973315949&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84973315949&partnerID=8YFLogxK
U2 - 10.1115/DSCC2015-9947
DO - 10.1115/DSCC2015-9947
M3 - Conference contribution
AN - SCOPUS:84973315949
T3 - ASME 2015 Dynamic Systems and Control Conference, DSCC 2015
BT - Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2
PB - American Society of Mechanical Engineers
ER -