TY - GEN
T1 - Nonlinear disturbance observer-based control for quadrotor UAV
AU - Taha, Wesam
AU - Al-Durra, Ahmed
AU - Errouissi, Rachid
AU - Al-Wahedi, Khaled
N1 - Funding Information:
ACKNOWLEDGMENT This work has been supported in part by the Gas Processing & Materials Science Research Centre (GRC) at Khalifa University of Science and Technology, Abu Dhabi, UAE.
Publisher Copyright:
© 2018 IEEE.
PY - 2018/12/26
Y1 - 2018/12/26
N2 - Recently, the control problem of a quadrotor unmanned aerial vehicle (UAV) has been undergoing massive research. In this paper, a nonlinear disturbance observer-based (NDO) controller is proposed for attitude and altitude control of a quadrotor, in order to estimate and compensate disturbances that are imposed naturally on the quadrotor due to aerodynamics and parameter uncertainties. It is demonstrated herein that the proposed observer can estimate external disturbances asymptotically. Subsequently, it is employed with an input-output feedback linearization (FBL) controller - rendered as a baseline controller - to achieve a composite controller capable of rejecting external disturbances rigorously. The resulting controller is compared with a FBL controller that is equipped with an integral component. Simulation results demonstrate a superior performance using the former controller for disturbance rejection.
AB - Recently, the control problem of a quadrotor unmanned aerial vehicle (UAV) has been undergoing massive research. In this paper, a nonlinear disturbance observer-based (NDO) controller is proposed for attitude and altitude control of a quadrotor, in order to estimate and compensate disturbances that are imposed naturally on the quadrotor due to aerodynamics and parameter uncertainties. It is demonstrated herein that the proposed observer can estimate external disturbances asymptotically. Subsequently, it is employed with an input-output feedback linearization (FBL) controller - rendered as a baseline controller - to achieve a composite controller capable of rejecting external disturbances rigorously. The resulting controller is compared with a FBL controller that is equipped with an integral component. Simulation results demonstrate a superior performance using the former controller for disturbance rejection.
KW - Aerodynamics
KW - Control
KW - Feedback Linearization
KW - Observers
KW - Quadrotor
KW - Robotics
KW - Unmanned Aerial Vehicle
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U2 - 10.1109/IECON.2018.8591597
DO - 10.1109/IECON.2018.8591597
M3 - Conference contribution
AN - SCOPUS:85061533497
T3 - Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society
SP - 2589
EP - 2595
BT - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 44th Annual Conference of the IEEE Industrial Electronics Society, IECON 2018
Y2 - 20 October 2018 through 23 October 2018
ER -