Wind disturbance rejection for unmanned aerial vehicles using acceleration feedback enhanced H∞ method

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	Wind disturbance rejection for unmanned aerial vehicles using acceleration feedback enhanced H∞ method
	Dai B(代波)1,2,3; He YQ(何玉庆)2,3; Zhang GY(张广玉)1,2,3; Gu F(谷丰)2,3; Yang LY(杨丽英)2,3; Xu WL(徐卫良)4
刊名	Autonomous Robots
	2020
卷号	44 期号:7 页码:1271–1285
关键词	Wind disturbance rejection Acceleration feedback Unmanned aerial vehicle H∞ control
ISSN号	0929-5593
产权排序	1
英文摘要	One of the most critical issues for unmanned aerial vehicle (UAV) safety and precision flight is wind disturbance. To this end, this paper presents an acceleration feedback (AF) enhanced H∞ method for UAV flight control against wind disturbance and its application on a hex-rotor platform. The dynamics of the UAV system are decoupled into attitude control and position control loops. A hierarchical H∞ controller is then designed for the decoupled system. Finally, an AF-enhanced method is introduced into the decoupled system without altering the original control structure. The stability of the AF-enhanced H∞ method for the UAV system is analyzed and verified using the H∞ theory. Two types of wind disturbances—continuous and gusty winds—are considered and analyzed for guiding the AF-enhanced controller design. The results of an experimental comparison between the H∞ controller and the AF-enhanced H∞ controller against wind disturbances demonstrate the robustness and effectiveness of the proposed method for wind disturbance rejection.
资助项目	National Key Research and Development Program of China[2017YFC1405401] ; National Natural Science Foundation of China[91748130] ; National Natural Science Foundation of China[61821005] ; Youth Innovation Promotion Association[2018232]
WOS关键词	TRAJECTORY TRACKING CONTROL ; OBSERVER ; POSITION ; UAV
WOS研究方向	Computer Science ; Robotics
语种	英语
WOS记录号	WOS:000552242800001
资助机构	National Key Research and Development Program of China ; National Natural Science Foundation of China ; Youth Innovation Promotion Association
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/27385]
专题	沈阳自动化研究所_机器人学研究室
通讯作者	He YQ(何玉庆)
作者单位	1.University of Chinese Academy of Sciences, Beijing 100049, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang 110016, China 3.Institutes for Robotics and Intelligent Manufacturing, CAS, Shenyang 110016, China 4.University of Auckland, Auckland 1010, New Zealand
推荐引用方式 GB/T 7714	Dai B,He YQ,Zhang GY,et al. Wind disturbance rejection for unmanned aerial vehicles using acceleration feedback enhanced H∞ method[J]. Autonomous Robots,2020,44(7):1271–1285.
APA	Dai B,He YQ,Zhang GY,Gu F,Yang LY,&Xu WL.(2020).Wind disturbance rejection for unmanned aerial vehicles using acceleration feedback enhanced H∞ method.Autonomous Robots,44(7),1271–1285.
MLA	Dai B,et al."Wind disturbance rejection for unmanned aerial vehicles using acceleration feedback enhanced H∞ method".Autonomous Robots 44.7(2020):1271–1285.