SwePub - search: WFRF:(Kim Suseong)

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1.	Lee, Seung Jae, et al. (author) Robust Acceleration Control of a Hexarotor UAV with a Disturbance Observer 2016 In: 2016 IEEE 55th Conference on Decision and Control, CDC 2016. - : Institute of Electrical and Electronics Engineers (IEEE). - 9781509018376 ; , s. 4166-4171 Conference paper (peer-reviewed)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, V. 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.

Lee, Seung Jae, et al. (author)
Robust Acceleration Control of a Hexarotor UAV with a Disturbance Observer
2016
In: 2016 IEEE 55th Conference on Decision and Control, CDC 2016. - : Institute of Electrical and Electronics Engineers (IEEE). - 9781509018376 ; , s. 4166-4171
Conference paper (peer-reviewed)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, V. 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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