Frequency-Based Wind Gust Estimation for Quadrotors Using a Nonlinear Disturbance Observer

Asignacion, Abner; Suzuki, Satoshi; Noda, Ryusuke; Nakata, T.; H, Liu

doi:10.1109/lra.2022.3190073

Cited by 11 publications

(5 citation statements)

References 24 publications

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“…d , the nonlinear error system (12) can be exactly rewritten as the following T-S fuzzy model. (13) where…”

Section: Lateral Kinematic Modelmentioning

confidence: 99%

Guaranteed Cost-Based Disturbance Observer and Controller Design for Path Tracking Control of a Powered Paraglider Under Unknown Rudder Trim and Wind Disturbances

Takahashi,

Yamamoto,

Wong

et al. 2024

IEEE Access

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This paper presents a guaranteed-cost disturbance observer and controller design to achieve accurate path tracking control for a powered paraglider (PPG) in the presence of unknown rudder trim and wind disturbances. The key contribution of this paper is a theoretical approach that ensures given flight control performance even in the presence of these unknown variables. Due to the complex and highly nonlinear nature of PPG dynamics, our approach utilizes a nonlinear control framework based on Takagi-Sugeno fuzzy models. Although this paper designs a nonlinear controller that compensates the rudder input not only with the trim but also with the wind estimated by the disturbance observer, it successfully derives guaranteed-cost design conditions that allow the separate design of the disturbance observer and the nonlinear controller within this framework. In addition, the influence of observer estimation errors on control performance degradation is discussed in terms of considering the upper bound of given control performance. The effectiveness of the proposed approach is demonstrated through extensive flight simulations using a high-precision PPG simulator, which accurately models the real-world flight dynamics of two rigid bodies with seven degrees of freedom. This validates the practical utility of the guaranteed-cost disturbance observer and controller design in maintaining control performance under unknown rudder trim and wind disturbances.INDEX TERMS Disturbance observer, guaranteed cost control, path tracking control, Takagi-Sugeno fuzzy model, powered paraglider, rudder trim, wind disturbances.

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“…d , the nonlinear error system (12) can be exactly rewritten as the following T-S fuzzy model. (13) where…”

Section: Lateral Kinematic Modelmentioning

confidence: 99%

Guaranteed Cost-Based Disturbance Observer and Controller Design for Path Tracking Control of a Powered Paraglider Under Unknown Rudder Trim and Wind Disturbances

Takahashi,

Yamamoto,

Wong

et al. 2024

IEEE Access

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“…In many applications, wind gust information can be obtained using unmanned aerial vehicles (UAVs) using wind sensors and an algorithm of estimation. This technique can be useful as feedback for robust control as well as a weightless substitute [30]. The estimated gust wind disturbance affecting the quadrotor is modeled as the input distributing the vehicle trajectory.…”

Section: External Disturbancesmentioning

confidence: 99%

Fixed-Time Fractional-Order Sliding Mode Control for UAVs under External Disturbances

Benaddy,

Labbadi,

Elyaalaoui

et al. 2023

Fractal Fract

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The present paper investigates a fixed-time tracking control with fractional-order dynamics for a quadrotor subjected to external disturbances. After giving the formulation problem of a quadrotor system with six subsystems like a second-order system, a fractional-order sliding manifold is then designed to achieve a fixed-time convergence of the state variables. In order to cope with the upper bound of the disturbances, a switching fixed-time controller is added to the equivalent control law. Based on the switching law, fixed-time stability is ensured. All analysis and stability are proved using the Lyapunov approach. Finally, the higher performance of the proposed controller fixed-time fractional-order sliding mode control (FTFOSMC) is successfully compared to the two existing techniques through numerical simulations.

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“…Furthermore, adaptive variations of ESO, such as the adaptive super-twisting ESO, have been proposed 10,11 . Apart from ESO, other techniques such as the disturbance observer (DO) 12,13,14,15 and unknown input observer(UIO) 16 , can also be used to estimate disturbances within a disturbance rejection control framework. DOs are advantageous in the design of robust control.…”

Section: Introductionmentioning

confidence: 99%

Stable and Robust Discrete-time Tracking Control of Unmanned Vehicles Using a Finite-Time Stable Disturbance Observer

Hamrah

Sanyal

2023

Preprint

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This work provides an asymptotically stable and robust tracking control scheme using a finite-time stable disturbance observer in the feedback loop, for an unmanned vehicle modeled as a rigid body. The dynamics of the system is discretized using a Lie group variational integrator in the form of a “gray box” dynamics model that also accounts for unknown additive disturbance force and torque. These disturbance terms are estimated using the finite-time stable disturbance observer in real-time and then compensated by the control scheme. The stability analysis for translational and rotational motions is carried out separately. It is shown that the discrete-time control laws achieve asymptotically stable tracking of the reference position and attitude trajectories.

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Frequency-Based Wind Gust Estimation for Quadrotors Using a Nonlinear Disturbance Observer

Cited by 11 publications

References 24 publications

Guaranteed Cost-Based Disturbance Observer and Controller Design for Path Tracking Control of a Powered Paraglider Under Unknown Rudder Trim and Wind Disturbances

Guaranteed Cost-Based Disturbance Observer and Controller Design for Path Tracking Control of a Powered Paraglider Under Unknown Rudder Trim and Wind Disturbances

Fixed-Time Fractional-Order Sliding Mode Control for UAVs under External Disturbances

Stable and Robust Discrete-time Tracking Control of Unmanned Vehicles Using a Finite-Time Stable Disturbance Observer

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