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.
|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|
|Publication status||Published - 2017|
|Event||ASME 2017 Dynamic Systems and Control Conference, DSCC 2017 - Tysons, United States|
Duration: 2017 Oct 11 → 2017 Oct 13
|Name||ASME 2017 Dynamic Systems and Control Conference, DSCC 2017|
|Other||ASME 2017 Dynamic Systems and Control Conference, DSCC 2017|
|Period||17/10/11 → 17/10/13|
Bibliographical noteFunding Information:
This work has been supported by the Yonsei New Faculty and Facility Grant. We would like to thank Professor Hassan Khalil for his continued support and advice in the development and implementation of the control scheme.
© Copyright 2017 ASME.
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Industrial and Manufacturing Engineering
- Mechanical Engineering