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Content Provider | Directory of Open Access Journals (DOAJ) |
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Author | Sheikh Izzal Azid Krishneel Kumar Maurizio Cirrincione Adriano Fagiolini |
Abstract | This paper focuses on robust wind disturbance rejection for nonlinear quadrotor models. By leveraging on nonlinear unknown observer theory, it proposes a nonlinear dynamic filter that, using sensors already on-board the aircraft, can estimate in real-time wind gust signals in the three dimensions. The wind disturbance is then treated as input to the PD controller for a quick and robust flight pathway in presence of disturbances. With this scheme, the wind disturbance can be precisely estimated online and compensated in real-time. Hence, the quadrotor can successfully reach its desired attitude and position. To show the effective and desired performance of the method, simulation results are presented in Matlab/Simulink and ROS-enabled Gazebo platform. |
e-ISSN | 21693536 |
DOI | 10.1109/ACCESS.2021.3124609 |
Journal | IEEE Access |
Volume Number | 9 |
Language | English |
Publisher | IEEE |
Publisher Date | 2021-01-01 |
Publisher Place | United States |
Access Restriction | Open |
Subject Keyword | Electrical Engineering. Electronics. Nuclear Engineering Nonlinear Unknown Input Observers Unknown Wind Gust Estimation and Compensation Quadrotor Pd Control |
Content Type | Text |
Resource Type | Article |
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