Control of a hovering quadrotor UAV subject to periodic disturbances

Zaki, Hammad and Ünel, Mustafa (2018) Control of a hovering quadrotor UAV subject to periodic disturbances. In: 6th International Conference on Control Engineering & Information Technology (CEIT), Istanbul, Turkey

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Abstract

Quadrotor is a rotary-wing UAV, which has a simple structure but highly nonlinear dynamics. Controlling a hovering quadrotor subject to external disturbances is a crucial task in many applications. In this paper, periodic disturbances have been tackled and novel disturbance observers (DOB) have been developed to estimate the total disturbance acting on the vehicle. It is especially difficult to reject periodic disturbances in low as well as in high frequency region due to the bandwidth limitations of the low-pass filter utilized in conventional DOB. As the cutoff frequency of the low-pass filter is critical, increased bandwidth reduces the robustness which degrades the disturbance rejection performance in the presence of noise. In addition to the low-pass filter, the new structure also consists of a bank of band-pass filters and a high-pass filter. Since the total disturbance acting on the vehicle is compensated by the proposed DOB, PD controllers with feedforward terms are utilized for stabilizing both position and attitude dynamics. Simulation results show the improved robustness obtained by the proposed method.
Item Type: Papers in Conference Proceedings
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ163.12 Mechatronics
Divisions: Integrated Manufacturing Technologies Research and Application Center
Faculty of Engineering and Natural Sciences > Academic programs > Mechatronics
Faculty of Engineering and Natural Sciences
Depositing User: Mustafa Ünel
Date Deposited: 25 Aug 2019 22:42
Last Modified: 26 Apr 2022 09:32
URI: https://research.sabanciuniv.edu/id/eprint/37737

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