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.
- Dynamic Systems and Control Division
Uncertainty and Disturbance Estimation for Quadrotor Control Using Extended High-Gain Observers: Experimental Implementation
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
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