Abstract
This paper presents a time domain disturbance observer based controller applied to a quadrotor unmanned aerial vehicle. The quadrotor stabilization performance, in its hovering configuration, in the presence of wind disturbances is studied using simulations. The wind disturbances are simulated using the Dryden wind model. The disturbance observer based controller is compared to a state space integral controller. The integral controller is designed based on a pole placement approach using a Lyapunov-based methodology. Simulation results have shown that the disturbance observer based controller is found to offer superior stabilization performance. In addition, it offers the advantage of simplified gains tuning due to the separation property.
Original language | English |
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Title of host publication | 2015 25th International Conference on Information, Communication and Automation Technologies, ICAT 2015 - Proceedings |
Publisher | IEEE |
ISBN (Electronic) | 9781467381468 |
DOIs | |
Publication status | Published - 30 Nov 2015 |
Externally published | Yes |
Event | 25th International Conference on Information, Communication and Automation Technologies, ICAT 2015 - Kampus Univerziteta u Sarajevu, Sarajevo, Bosnia and Herzegovina Duration: 29 Oct 2015 → 31 Oct 2015 Conference number: 25 |
Conference
Conference | 25th International Conference on Information, Communication and Automation Technologies, ICAT 2015 |
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Abbreviated title | ICAT 2015 |
Country/Territory | Bosnia and Herzegovina |
City | Sarajevo |
Period | 29/10/15 → 31/10/15 |
Keywords
- disturbance observer
- Dryden model
- quadrotor
- Wind disturbances