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 proceedingConference contributionAcademicpeer-review

8 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 languageEnglish
Title of host publication2015 25th International Conference on Information, Communication and Automation Technologies, ICAT 2015 - Proceedings
PublisherIEEE
ISBN (Electronic)9781467381468
DOIs
Publication statusPublished - 30 Nov 2015
Externally publishedYes
Event25th International Conference on Information, Communication and Automation Technologies, ICAT 2015 - Kampus Univerziteta u Sarajevu, Sarajevo, Bosnia and Herzegovina
Duration: 29 Oct 201531 Oct 2015
Conference number: 25

Conference

Conference25th International Conference on Information, Communication and Automation Technologies, ICAT 2015
Abbreviated titleICAT 2015
CountryBosnia and Herzegovina
CitySarajevo
Period29/10/1531/10/15

Keywords

  • disturbance observer
  • Dryden model
  • quadrotor
  • Wind disturbances

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