Time domain disturbance observer based control of a quadrotor unmanned aerial vehicle

Ahmed Aboudonia; Ramy Rashad; Ayman El-Badawy

doi:10.1109/ICAT.2015.7340501

Time domain disturbance observer based control of a quadrotor unmanned aerial vehicle

Ahmed Aboudonia, Ramy Rashad, Ayman El-Badawy

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

16 Citations (Scopus)

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
Title of host publication	2015 25th International Conference on Information, Communication and Automation Technologies, ICAT 2015 - Proceedings
Publisher	IEEE
ISBN (Electronic)	9781467381468
DOIs	https://doi.org/10.1109/ICAT.2015.7340501
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
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

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10.1109/ICAT.2015.7340501

Cite this

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title = "Time domain disturbance observer based control of a quadrotor unmanned aerial vehicle",

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.",

keywords = "disturbance observer, Dryden model, quadrotor, Wind disturbances",

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doi = "10.1109/ICAT.2015.7340501",

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Aboudonia, A, Rashad, R & El-Badawy, A 2015, Time domain disturbance observer based control of a quadrotor unmanned aerial vehicle. in 2015 25th International Conference on Information, Communication and Automation Technologies, ICAT 2015 - Proceedings., 7340501, IEEE, 25th International Conference on Information, Communication and Automation Technologies, ICAT 2015, Sarajevo, Bosnia and Herzegovina, 29/10/15. https://doi.org/10.1109/ICAT.2015.7340501

Time domain disturbance observer based control of a quadrotor unmanned aerial vehicle. / Aboudonia, Ahmed; Rashad, Ramy; El-Badawy, Ayman.
2015 25th International Conference on Information, Communication and Automation Technologies, ICAT 2015 - Proceedings. IEEE, 2015. 7340501.

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

TY - GEN

T1 - Time domain disturbance observer based control of a quadrotor unmanned aerial vehicle

AU - Aboudonia, Ahmed

AU - Rashad, Ramy

AU - El-Badawy, Ayman

N1 - Conference code: 25

PY - 2015/11/30

Y1 - 2015/11/30

N2 - 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.

AB - 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.

KW - disturbance observer

KW - Dryden model

KW - quadrotor

KW - Wind disturbances

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DO - 10.1109/ICAT.2015.7340501

M3 - Conference contribution

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BT - 2015 25th International Conference on Information, Communication and Automation Technologies, ICAT 2015 - Proceedings

PB - IEEE

T2 - 25th International Conference on Information, Communication and Automation Technologies, ICAT 2015

Y2 - 29 October 2015 through 31 October 2015

ER -

Time domain disturbance observer based control of a quadrotor unmanned aerial vehicle

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Keywords

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