Nonlinear disturbance observer-based control for quadrotor UAV

Wesam Taha, Ahmed Al-Durra, Rachid Errouissi, Khaled Al-Wahedi

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

5 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationProceedings
Subtitle of host publicationIECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2589-2595
Number of pages7
ISBN (Electronic)9781509066841
DOIs
Publication statusPublished - Dec 26 2018
Externally publishedYes
Event44th Annual Conference of the IEEE Industrial Electronics Society, IECON 2018 - Washington, United States
Duration: Oct 20 2018Oct 23 2018

Publication series

NameProceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society

Conference

Conference44th Annual Conference of the IEEE Industrial Electronics Society, IECON 2018
Country/TerritoryUnited States
CityWashington
Period10/20/1810/23/18

Keywords

  • Aerodynamics
  • Control
  • Feedback Linearization
  • Observers
  • Quadrotor
  • Robotics
  • Unmanned Aerial Vehicle

ASJC Scopus subject areas

  • Energy Engineering and Power Technology
  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering
  • Control and Optimization

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