In-Ground-Effect Modeling and Nonlinear-Disturbance Observer for Multirotor Unmanned Aerial Vehicle Control

He, Xiang; Kou, Gordon; Calaf, Marc; Leang, Kam K.

doi:10.1115/1.4043221

Cited by 36 publications

(8 citation statements)

References 37 publications

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“…The initial condition is obtained by setting N = 1, in which case Λ 1 = 0 as it is the last dual variable. Substituting Λ 1 = 0 into (10) and using the same manipulation method as (23) can yield the desired initial condition (12). This, together with the above equations, completes the proof.…”

Section: Appendixmentioning

confidence: 59%

Differentiable Moving Horizon Estimation for Robust Flight Control

Wang¹,

Ma²,

Lai³

et al. 2021

Preprint

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Estimating and reacting to external disturbances is of fundamental importance for robust control of quadrotors. Existing estimators typically require significant tuning or training with a large amount of data, including the ground truth, to achieve satisfactory performance. This paper proposes a data-efficient differentiable moving horizon estimation (DMHE) algorithm that can automatically tune the MHE parameters online and also adapt to different scenarios. We achieve this by deriving the analytical gradient of the estimated trajectory from MHE with respect to the tuning parameters, enabling endto-end learning for auto-tuning. Most interestingly, we show that the gradient can be calculated efficiently from a Kalman filter in a recursive form. Moreover, we develop a model-based policy gradient algorithm to learn the parameters directly from the trajectory tracking errors without the need for the ground truth. The proposed DMHE can be further embedded as a layer with other neural networks for joint optimization. Finally, we demonstrate the effectiveness of the proposed method via both simulation and experiments on quadrotors, where challenging scenarios such as sudden payload change and flying in downwash are examined.

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Section: Appendixmentioning

confidence: 59%

Differentiable Moving Horizon Estimation for Robust Flight Control

Wang¹,

Ma²,

Lai³

et al. 2021

Preprint

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“…Theorem 1. Consider system (2) with controller (7) and observer (8), under Assumptions 1-2. Then (for all) ∀ 0 > 0, (there exists) ∃T 0 > 0 such that…”

Section: Letĥ(t) Denote the Compensation Of H(t)mentioning

confidence: 99%

“…While in Reference 4, a nonlinear DO together with dynamic surface control was used successfully to keep the desired position and heading of ship under input saturation. Nonlinear DO is one of popular methods for disturbance/uncertainty estimation and attenuation with many applications in different fields, such as robot, 2,5,6 aviation, 7‐9 navigation, 4 and so on. Some attentions were focused on the general models with nonlinear DO, such as systems with mismatched uncertainty, 10 and uncertain nonlinear systems 11 .…”

Section: Introductionmentioning

confidence: 99%

Integral‐type‐observer‐based control with measurement uncertainty and application to two‐wheeled inverted pendulum

Song

Wang

2021

Intl J Robust & Nonlinear

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To overcome the deficiencies of traditional disturbance observers in the presence of measurement uncertainty, an integral-type observer-based control using measured signals is proposed. The integral-type observer is in terms of an explicit integral-algebra form of measured signals. As a combination of the integral-type observer and high-gain controller, the observer-based control is a proportional-integral-derivative control with special combination of parameters for feedback linearization, simple in structure and easy in implementation.Without the observer, the high-gain controller alone may not have good control performance, but the proposed observer-based control works very well in stabilizing the system even when the observer performance is not good enough, due to the use of the high-gain control. The main results are applied to the control of a two-wheeled inverted pendulum. K E Y W O R D Sfeedback linearization, high-gain control, integral-type observer, measurement uncertainty, two-wheeled inverted pendulum INTRODUCTIONDisturbance and uncertainty exist commonly in practical control applications and they usually have adverse effects on performance and stability of the control systems. Regarded as a "patch" to improve the robustness and disturbance attenuation abilities, 1 the disturbance-observer-based techniques combining with other control approaches can deal with the disturbance and uncertainty very well. For example, a nonlinear DO (disturbance observer) was proposed in Reference 2 to estimate the difficultly measured friction in the controller of a nonlinear robotic manipulator. In Reference 3, a finite-time DO was used to estimate the mismatched disturbances for a general dynamic system, and the system is stabilized when the DO is combined with a nonsingular terminal sliding mode control. While in Reference 4, a nonlinear DO together with dynamic surface control was used successfully to keep the desired position and heading of ship under input saturation. Nonlinear DO is one of popular methods for disturbance/uncertainty estimation and attenuation with many applications in different fields, such as robot, 2,5,6 aviation, 7-9 navigation, 4 and so on. Some attentions were focused on the general models with nonlinear DO, such as systems with mismatched uncertainty, 10 and uncertain nonlinear systems. 11 Except nonlinear DO, there exists many other approaches to suppress disturbance and uncertainty effect, such as extended state observer, 12 high-order sliding mode observer, 13,14 and so on. More DO-based techniques and their detailed introduction can be found in a review paper. 15

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“…The premise of compensation is to estimate disturbance, but most disturbances cannot be measured directly, so the disturbance observer is proposed. Disturbance observer (DOB) is proposed by Ohnishi [19] in 1987, which is an active estimation method for external disturbance and has been applied in robotic [20], aerial vehicle control [21], PMSM [22], etc. In [23], a composite sliding mode controller based on DOB is proposed for PMSM, the disturbance is compensated by DOB can take a smaller switching gain without sacrificing disturbance rejection.…”

Section: Introductionmentioning

confidence: 99%

Active Disturbance Compensation Based Robust Control for Speed Regulation System of Permanent Magnet Synchronous Motor

2020

Applied Sciences

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This paper deals with the robust control method for permanent magnet synchronous motor (PMSM) speed-regulation system based on active disturbance compensation. Different from the classical PMSM disturbance compensation scheme, a novel disturbance feed-forward compensation based on extended state observer (ESO) is designed for speed loop and q-axis current loop of PMSM. The disturbances of current loop include unmodeled dynamics of back electromotive force and parameters variations of stator are considered as lumped disturbance to compensate actively. In this way, the dynamic response of q-axis current loop can be improved to guarantee the anti-disturbance ability. A composite controller using sliding mode control and ESO is designed as speed loop controller, and an ESO-based proportional-integral controller is designed for q-axis current loop. Moreover, a transition process of reference signal is introduced to replace the step reference signal, which reduces the initial error and increases the range of feedback gain to improve system robustness. Finally, simulations and experiments are given to demonstrate the effectiveness of the proposed strategy.

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In-Ground-Effect Modeling and Nonlinear-Disturbance Observer for Multirotor Unmanned Aerial Vehicle Control

Cited by 36 publications

References 37 publications

Differentiable Moving Horizon Estimation for Robust Flight Control

Differentiable Moving Horizon Estimation for Robust Flight Control

Integral‐type‐observer‐based control with measurement uncertainty and application to two‐wheeled inverted pendulum

Active Disturbance Compensation Based Robust Control for Speed Regulation System of Permanent Magnet Synchronous Motor

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