Robust control with disturbance observer for UAV translational tracking

被引：0
|
作者：
Rodriguez-Mata, A. [1 ]
Lopez, R. [1 ]
Martinez-Vasquez, A. [1 ]
Salazar, S. [1 ]
Osorio, A. [1 ]
Lozano, R. [1 ]
机构：
[1] CINVESTAV IPN, UMI LAFMIA CNRS 3175, Ave IPN 2508 San Pedro Zacatenco, Mexico City 07360, DF, Mexico
来源：
2015 WORKSHOP ON RESEARCH, EDUCATION AND DEVELOPMENT OF UNMANNED AERIAL SYSTEMS (RED-UAS) | 2015年
关键词：
ADAPTIVE OBSERVERS;
D O I：
暂无
中图分类号：
V [航空、航天];
学科分类号：
08 ; 0825 ;
摘要：
An integral robust observer with rejection control disturbance is proposed in this paper. The design of the observer is performed employing the canonical obervable model of the original non-linear system, obtained by a change of coordinates. A practical stability is proved using the Lyapunov approach with using a high gain to maintain the solution in a convergence ball. Several simulations cases are carried out to illustrate the performance of the closed-loop system in a disturbance wind prepense. In other cases, noise in the states are added to emulate a real system.
引用
收藏
页码：419 / 423
页数：5
相关论文
共 50 条
  • [21] Robust trajectory tracking control of quadrotor UAV based on the improved extended state observer
    Li Y.
    Wen Y.
    Huang L.
    Yi Qi Yi Biao Xue Bao/Chinese Journal of Scientific Instrument, 2023, 44 (04): : 129 - 139
  • [22] Robust Translational Force Control of Multi-Rotor UAV for Precise Acceleration Tracking
    Lee, Seung Jae
    Kim, Seung Hyun
    Kim, Hyoun Jin
    IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING, 2020, 17 (02) : 562 - 573
  • [23] Disturbance observer-based robust control for trajectory tracking of wheeled mobile robots
    Huang, Dawei
    Zhai, Junyong
    Ai, Weiqing
    Fei, Shumin
    NEUROCOMPUTING, 2016, 198 : 74 - 79
  • [24] Robust Trajectory Tracking Control for a Quadrotor Unmanned Aerial Vehicle Using Disturbance Observer
    Yang, Yi
    Wu, Qingxian
    Chen, Mou
    PROCEEDINGS OF THE 2016 12TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA), 2016, : 697 - 702
  • [25] An Internal Model Disturbance Observer Based Robust Trajectory Tracking Control for Articulated Manipulators
    Ha, Wonseok
    Park, Jae-Han
    Back, Juhoon
    INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2025, 23 (02) : 479 - 488
  • [26] Robust Tracking Control for Self-balancing Mobile Robots Using Disturbance Observer
    Chen, Mou
    IEEE-CAA JOURNAL OF AUTOMATICA SINICA, 2017, 4 (03) : 458 - 465
  • [27] Discrete-time robust tracking control using a state space disturbance observer
    Lee, SH
    Kim, YH
    Baek, SE
    PROCEEDINGS OF THE 2000 AMERICAN CONTROL CONFERENCE, VOLS 1-6, 2000, : 4194 - 4198
  • [28] Robust Tracking Control for Self-balancing Mobile Robots Using Disturbance Observer
    Mou Chen
    IEEE/CAA Journal of Automatica Sinica, 2017, 4 (03) : 458 - 465
  • [29] Nonlinear disturbance observer-based robust control of attitude tracking of rigid spacecraft
    Daero Lee
    Nonlinear Dynamics, 2017, 88 : 1317 - 1328
  • [30] Robust tracking control of optical disk recording system based on sudden disturbance observer
    Miyazaki, Toshimasa
    Ohishi, Kiyoshi
    Shibutani, Isao
    Koide, Daiichi
    Tokumaru, Haruki
    IECON 2006 - 32ND ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS, VOLS 1-11, 2006, : 3316 - +
12345