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

Connor J. Boss; Joonho Lee; Jongeun Choi

doi:10.1115/DSCC2017-5204

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

Connor J. Boss, Joonho Lee, Jongeun Choi

Department of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (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 language	English
Title of host publication	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
Publisher	American Society of Mechanical Engineers
ISBN (Electronic)	9780791858288
DOIs	https://doi.org/10.1115/DSCC2017-5204
Publication status	Published - 2017
Event	ASME 2017 Dynamic Systems and Control Conference, DSCC 2017 - Tysons, United States Duration: 2017 Oct 11 → 2017 Oct 13

Publication series

Name	ASME 2017 Dynamic Systems and Control Conference, DSCC 2017
Volume	2

Other

Other	ASME 2017 Dynamic Systems and Control Conference, DSCC 2017
Country	United States
City	Tysons
Period	17/10/11 → 17/10/13

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Industrial and Manufacturing Engineering
Mechanical Engineering

Access to Document

10.1115/DSCC2017-5204

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

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.",

author = "Boss, {Connor J.} and Joonho Lee and Jongeun Choi",

year = "2017",

doi = "10.1115/DSCC2017-5204",

language = "English",

series = "ASME 2017 Dynamic Systems and Control Conference, DSCC 2017",

publisher = "American Society of Mechanical Engineers",

booktitle = "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",

note = "ASME 2017 Dynamic Systems and Control Conference, DSCC 2017 ; Conference date: 11-10-2017 Through 13-10-2017",

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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 proceeding › Conference 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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BT - 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

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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