Robust acceleration control of a hexarotor UAV with a disturbance observer

Seung Jae Lee; Suseong Kim; Karl Henrik Johansson; H. Jin Kim

doi:10.1109/CDC.2016.7798901

Robust acceleration control of a hexarotor UAV with a disturbance observer

Seung Jae Lee, Suseong Kim, Karl Henrik Johansson, H. Jin Kim

Dept. of Mechanical System and Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

47 Scopus citations

Abstract

This paper presents an acceleration control of a hexarotor unmanned aerial vehicle (UAV) in the earth-fixed frame with a disturbance observer (DOB). Unlike conventional cascade control structures where the outer-loop position controller generates the desired attitude command, the position controller in this paper generates the desired acceleration command in X, Y, Z axis of the earth-fixed frame. With acceleration control combined with DOB, the UAV could manage the lateral disturbance force that makes the trajectory tracking very challenging. This is a new concept compared with existing DOB-based UAV control approaches which aim to cancel the moment disturbance for precise attitude control. The small-gain theorem is used for stability analysis and Q-filter bandwidth design. Both simulation and actual experiment are shown to validate the performance of the proposed design.

Original language	English
Title of host publication	2016 IEEE 55th Conference on Decision and Control, CDC 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4166-4171
Number of pages	6
ISBN (Electronic)	9781509018376
DOIs	https://doi.org/10.1109/CDC.2016.7798901
State	Published - 27 Dec 2016
Event	55th IEEE Conference on Decision and Control, CDC 2016 - Las Vegas, United States Duration: 12 Dec 2016 → 14 Dec 2016

Publication series

Name	2016 IEEE 55th Conference on Decision and Control, CDC 2016

Conference

Conference	55th IEEE Conference on Decision and Control, CDC 2016
Country/Territory	United States
City	Las Vegas
Period	12/12/16 → 14/12/16

Keywords

acceleration control
disturbance observer
Hexarotor
robust position control
small-gain theorem

Access to Document

10.1109/CDC.2016.7798901

Cite this

Lee, S. J., Kim, S., Johansson, K. H., & Kim, H. J. (2016). Robust acceleration control of a hexarotor UAV with a disturbance observer. In 2016 IEEE 55th Conference on Decision and Control, CDC 2016 (pp. 4166-4171). Article 7798901 (2016 IEEE 55th Conference on Decision and Control, CDC 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2016.7798901

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title = "Robust acceleration control of a hexarotor UAV with a disturbance observer",

abstract = "This paper presents an acceleration control of a hexarotor unmanned aerial vehicle (UAV) in the earth-fixed frame with a disturbance observer (DOB). Unlike conventional cascade control structures where the outer-loop position controller generates the desired attitude command, the position controller in this paper generates the desired acceleration command in X, Y, Z axis of the earth-fixed frame. With acceleration control combined with DOB, the UAV could manage the lateral disturbance force that makes the trajectory tracking very challenging. This is a new concept compared with existing DOB-based UAV control approaches which aim to cancel the moment disturbance for precise attitude control. The small-gain theorem is used for stability analysis and Q-filter bandwidth design. Both simulation and actual experiment are shown to validate the performance of the proposed design.",

keywords = "acceleration control, disturbance observer, Hexarotor, robust position control, small-gain theorem",

author = "Lee, \{Seung Jae\} and Suseong Kim and Johansson, \{Karl Henrik\} and Kim, \{H. Jin\}",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 55th IEEE Conference on Decision and Control, CDC 2016 ; Conference date: 12-12-2016 Through 14-12-2016",

year = "2016",

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doi = "10.1109/CDC.2016.7798901",

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Lee, SJ, Kim, S, Johansson, KH & Kim, HJ 2016, Robust acceleration control of a hexarotor UAV with a disturbance observer. in 2016 IEEE 55th Conference on Decision and Control, CDC 2016., 7798901, 2016 IEEE 55th Conference on Decision and Control, CDC 2016, Institute of Electrical and Electronics Engineers Inc., pp. 4166-4171, 55th IEEE Conference on Decision and Control, CDC 2016, Las Vegas, United States, 12/12/16. https://doi.org/10.1109/CDC.2016.7798901

Robust acceleration control of a hexarotor UAV with a disturbance observer. / Lee, Seung Jae; Kim, Suseong; Johansson, Karl Henrik et al.
2016 IEEE 55th Conference on Decision and Control, CDC 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 4166-4171 7798901 (2016 IEEE 55th Conference on Decision and Control, CDC 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - This paper presents an acceleration control of a hexarotor unmanned aerial vehicle (UAV) in the earth-fixed frame with a disturbance observer (DOB). Unlike conventional cascade control structures where the outer-loop position controller generates the desired attitude command, the position controller in this paper generates the desired acceleration command in X, Y, Z axis of the earth-fixed frame. With acceleration control combined with DOB, the UAV could manage the lateral disturbance force that makes the trajectory tracking very challenging. This is a new concept compared with existing DOB-based UAV control approaches which aim to cancel the moment disturbance for precise attitude control. The small-gain theorem is used for stability analysis and Q-filter bandwidth design. Both simulation and actual experiment are shown to validate the performance of the proposed design.

AB - This paper presents an acceleration control of a hexarotor unmanned aerial vehicle (UAV) in the earth-fixed frame with a disturbance observer (DOB). Unlike conventional cascade control structures where the outer-loop position controller generates the desired attitude command, the position controller in this paper generates the desired acceleration command in X, Y, Z axis of the earth-fixed frame. With acceleration control combined with DOB, the UAV could manage the lateral disturbance force that makes the trajectory tracking very challenging. This is a new concept compared with existing DOB-based UAV control approaches which aim to cancel the moment disturbance for precise attitude control. The small-gain theorem is used for stability analysis and Q-filter bandwidth design. Both simulation and actual experiment are shown to validate the performance of the proposed design.

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Robust acceleration control of a hexarotor UAV with a disturbance observer

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