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 | |
| Publication status | Published - 2017 Jan 1 |
| 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 |
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All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Industrial and Manufacturing Engineering
- Mechanical Engineering
Cite this
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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
TY - GEN
T1 - Uncertainty and disturbance estimation for quadrotor control using extended high-gain observers
T2 - Experimental implementation
AU - Boss, Connor J.
AU - Lee, Joonho
AU - Choi, Jongeun
PY - 2017/1/1
Y1 - 2017/1/1
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.
UR - http://www.scopus.com/inward/record.url?scp=85036635155&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85036635155&partnerID=8YFLogxK
U2 - 10.1115/DSCC2017-5204
DO - 10.1115/DSCC2017-5204
M3 - Conference contribution
AN - SCOPUS:85036635155
T3 - ASME 2017 Dynamic Systems and Control Conference, DSCC 2017
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
PB - American Society of Mechanical Engineers
ER -