Uncertainty and disturbance estimation for quadrotor control using extended high-gain observers: Experimental implementation

Connor J. Boss, Joonho Lee, Jongeun Choi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper presents a complete experimental implementation of an Extended High-Gain Observer (EHGO) based disturbance and uncertainty estimator for use in quadrotor control. The system is designed as a multi-time-scale system to deal with mechanical underactuation and to ensure convergence of EHGO estimates for use in the output feedback control. The lumped, estimated disturbance is passed into the rotational dynamic inversion based control, and the feedback linearization based translational control to cancel the estimated disturbances. This results in a feedback control scheme that is robust to external disturbances as well as model uncertainties, such as an uncertain airframe mass and rotational inertial matrix. The control is verified through simulation and experimental results.

Original languageEnglish
Title of host publicationMechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications
PublisherAmerican Society of Mechanical Engineers
ISBN (Electronic)9780791858288
DOIs
Publication statusPublished - 2017 Jan 1
EventASME 2017 Dynamic Systems and Control Conference, DSCC 2017 - Tysons, United States
Duration: 2017 Oct 112017 Oct 13

Publication series

NameASME 2017 Dynamic Systems and Control Conference, DSCC 2017
Volume2

Other

OtherASME 2017 Dynamic Systems and Control Conference, DSCC 2017
CountryUnited States
CityTysons
Period17/10/1117/10/13

Fingerprint

Feedback control
Feedback linearization
Airframes
Uncertainty

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering
  • Mechanical Engineering

Cite this

Boss, C. J., Lee, J., & Choi, J. (2017). Uncertainty and disturbance estimation for quadrotor control using extended high-gain observers: Experimental implementation. In Mechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications (ASME 2017 Dynamic Systems and Control Conference, DSCC 2017; Vol. 2). American Society of Mechanical Engineers. https://doi.org/10.1115/DSCC2017-5204
Boss, Connor J. ; Lee, Joonho ; Choi, Jongeun. / Uncertainty and disturbance estimation for quadrotor control using extended high-gain observers : Experimental implementation. Mechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications. American Society of Mechanical Engineers, 2017. (ASME 2017 Dynamic Systems and Control Conference, DSCC 2017).
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abstract = "This paper presents a complete experimental implementation of an Extended High-Gain Observer (EHGO) based disturbance and uncertainty estimator for use in quadrotor control. The system is designed as a multi-time-scale system to deal with mechanical underactuation and to ensure convergence of EHGO estimates for use in the output feedback control. The lumped, estimated disturbance is passed into the rotational dynamic inversion based control, and the feedback linearization based translational control to cancel the estimated disturbances. This results in a feedback control scheme that is robust to external disturbances as well as model uncertainties, such as an uncertain airframe mass and rotational inertial matrix. The control is verified through simulation and experimental results.",
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Boss, CJ, Lee, J & Choi, J 2017, Uncertainty and disturbance estimation for quadrotor control using extended high-gain observers: Experimental implementation. in Mechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications. ASME 2017 Dynamic Systems and Control Conference, DSCC 2017, vol. 2, American Society of Mechanical Engineers, ASME 2017 Dynamic Systems and Control Conference, DSCC 2017, Tysons, United States, 17/10/11. https://doi.org/10.1115/DSCC2017-5204

Uncertainty and disturbance estimation for quadrotor control using extended high-gain observers : Experimental implementation. / Boss, Connor J.; Lee, Joonho; Choi, Jongeun.

Mechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications. American Society of Mechanical Engineers, 2017. (ASME 2017 Dynamic Systems and Control Conference, DSCC 2017; Vol. 2).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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N2 - This paper presents a complete experimental implementation of an Extended High-Gain Observer (EHGO) based disturbance and uncertainty estimator for use in quadrotor control. The system is designed as a multi-time-scale system to deal with mechanical underactuation and to ensure convergence of EHGO estimates for use in the output feedback control. The lumped, estimated disturbance is passed into the rotational dynamic inversion based control, and the feedback linearization based translational control to cancel the estimated disturbances. This results in a feedback control scheme that is robust to external disturbances as well as model uncertainties, such as an uncertain airframe mass and rotational inertial matrix. The control is verified through simulation and experimental results.

AB - This paper presents a complete experimental implementation of an Extended High-Gain Observer (EHGO) based disturbance and uncertainty estimator for use in quadrotor control. The system is designed as a multi-time-scale system to deal with mechanical underactuation and to ensure convergence of EHGO estimates for use in the output feedback control. The lumped, estimated disturbance is passed into the rotational dynamic inversion based control, and the feedback linearization based translational control to cancel the estimated disturbances. This results in a feedback control scheme that is robust to external disturbances as well as model uncertainties, such as an uncertain airframe mass and rotational inertial matrix. The control is verified through simulation and experimental results.

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Boss CJ, Lee J, Choi J. Uncertainty and disturbance estimation for quadrotor control using extended high-gain observers: Experimental implementation. In Mechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications. American Society of Mechanical Engineers. 2017. (ASME 2017 Dynamic Systems and Control Conference, DSCC 2017). https://doi.org/10.1115/DSCC2017-5204