| Full text | |
| Author(s): |
Benevides, Joao R. S.
[1]
;
Paiva, Marlon A. D.
[1]
;
Simplicio, Paulo V. G.
[1]
;
Inoue, Roberto S.
[2]
;
Terra, Marco H.
[1]
Total Authors: 5
|
| Affiliation: | [1] Univ Sao Paulo, Sao Carlos Sch Engn, Dept Elect & Comp Engn, BR-13566590 Sao Carlos, SP - Brazil
[2] Univ Fed Sao Carlos, Dept Comp Sci, BR-13565905 Sao Carlos, SP - Brazil
Total Affiliations: 2
|
| Document type: | Journal article |
| Source: | IEEE ACCESS; v. 10, p. 7554-7565, 2022. |
| Web of Science Citations: | 0 |
| Abstract | |
We propose a disturbance observer-based controller to deal with the trajectory tracking problem of a quadrotor subject to parametric uncertainties and wind disturbance. The design is based on the combination of a recursive robust linear-quadratic regulator and a Kalman filter. Robust regulation deals with uncertainties of state and input matrices of the quadrotor in order to minimize, mainly, its trajectory tracking error. Filtering aims to estimate wind disturbance based on an augmented state-space model of the quadrotor. We finish the approach with a compensation controller whose task is to perform disturbance attenuation. We develop indoor experiments where a wind disturbance source provides a measurable speed pattern. We provide a comparative study among the robust control approach proposed with a feedback linearization controller, a proportional-integral-derivative controller, and a nominal linear-quadratic regulator. (AU) | |
| FAPESP's process: | 18/13848-1 - Trajectory planning of autonomous heterogeneous robots for cooperative 3D mapping of an unknown environment |
| Grantee: | Kenny Anderson Queiroz Caldas |
| Support Opportunities: | Scholarships in Brazil - Doctorate |
| FAPESP's process: | 17/05668-0 - Communication Fault-tolerant Networked Control System for Coordination of Heterogeneous Robots |
| Grantee: | João Roberto Soares Benevides |
| Support Opportunities: | Scholarships in Brazil - Doctorate |
| FAPESP's process: | 14/50851-0 - INCT 2014: National Institute of Science and Technology for Cooperative Autonomous Systems Applied in Security and Environment |
| Grantee: | Marco Henrique Terra |
| Support Opportunities: | Research Projects - Thematic Grants |