This paper presents a complete experimental implementation of an Extended High-Gain Observer (EHGO) based disturbance and uncertainty estimator for use in quadrotor control. The system is designed as a multi-time-scale system to deal with mechanical underactuation and to ensure convergence of EHGO estimates for use in the output feedback control. The lumped, estimated disturbance is passed into the rotational dynamic inversion based control, and the feedback linearization based translational control to cancel the estimated disturbances. This results in a feedback control scheme that is robust to external disturbances as well as model uncertainties, such as an uncertain air-frame mass and rotational inertial matrix. The control is verified through simulation and experimental results.
Skip Nav Destination
ASME 2017 Dynamic Systems and Control Conference
October 11–13, 2017
Tysons, Virginia, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-5828-8
PROCEEDINGS PAPER
Uncertainty and Disturbance Estimation for Quadrotor Control Using Extended High-Gain Observers: Experimental Implementation
Connor J. Boss,
Connor J. Boss
Michigan State University, East Lansing, MI
Search for other works by this author on:
Jongeun Choi
Jongeun Choi
Yonsei University, Seoul, Korea
Search for other works by this author on:
Connor J. Boss
Michigan State University, East Lansing, MI
Joonho Lee
HRL Laboratories, Malibu, CA
Jongeun Choi
Yonsei University, Seoul, Korea
Paper No:
DSCC2017-5204, V002T01A003; 8 pages
Published Online:
November 14, 2017
Citation
Boss, CJ, Lee, J, & Choi, J. "Uncertainty and Disturbance Estimation for Quadrotor Control Using Extended High-Gain Observers: Experimental Implementation." Proceedings of the ASME 2017 Dynamic Systems and Control Conference. Volume 2: Mechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications. Tysons, Virginia, USA. October 11–13, 2017. V002T01A003. ASME. https://doi.org/10.1115/DSCC2017-5204
Download citation file:
54
Views
0
Citations
Related Proceedings Papers
Related Articles
Output–Feedback Regulation of the Contact-Force in High-Speed Train Pantographs
J. Dyn. Sys., Meas., Control (March,2004)
Iterative Learning Control With Switching Gain Feedback for Nonlinear Systems
J. Comput. Nonlinear Dynam (January,2011)
Robust Control of a 2D Acoustic Enclosure
J. Vib. Acoust (July,2003)
Related Chapters
On the Evaluation of Thermal and Mechanical Factors in Low-Speed Sliding
Tribology of Mechanical Systems: A Guide to Present and Future Technologies
Case Study: Simulation Analysis for Complex R&D Project Based on Iteration Process Model
International Conference on Instrumentation, Measurement, Circuits and Systems (ICIMCS 2011)
Developing Human Performance Measures (PSAM-0207)
Proceedings of the Eighth International Conference on Probabilistic Safety Assessment & Management (PSAM)