Wind gust estimation for precise quasi-hovering control of quadrotor aircraft
This paper focuses on the control of quadrotor vehicles without wind sensors that are required to accurately track low-speed trajectories in the presence of moderate yet unknown wind gusts. By modeling the wind disturbance as exogenous inputs, and assuming that compensation of its effects can be ach...
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| Published in | Control engineering practice Vol. 116; p. 104930 |
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| Main Authors | , , , |
| Format | Journal Article |
| Language | English |
| Published |
Elsevier Ltd
01.11.2021
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| Subjects | |
| Online Access | Get full text |
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| Abstract | This paper focuses on the control of quadrotor vehicles without wind sensors that are required to accurately track low-speed trajectories in the presence of moderate yet unknown wind gusts. By modeling the wind disturbance as exogenous inputs, and assuming that compensation of its effects can be achieved through quasi-static vehicle motions, this paper proposes an innovative estimation and control scheme comprising a linear dynamic filter for the estimation of such unknown inputs and requiring only position and attitude information. The filter is built upon results from Unknown Input Observer theory and allows estimation of wind and vehicle state without measurement of the wind itself. A simple feedback control law can be used to compensate for the offset position error induced by the disturbance. The proposed filter is independent of the recovery control scheme used to nullify the tracking error, as long as the corresponding applied rotor speeds are available. The solution is first checked in simulation environment by using the Robot Operating System middleware and the Gazebo simulator and then experimentally validated with a quadcopter system flying with real wind sources. |
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| AbstractList | This paper focuses on the control of quadrotor vehicles without wind sensors that are required to accurately track low-speed trajectories in the presence of moderate yet unknown wind gusts. By modeling the wind disturbance as exogenous inputs, and assuming that compensation of its effects can be achieved through quasi-static vehicle motions, this paper proposes an innovative estimation and control scheme comprising a linear dynamic filter for the estimation of such unknown inputs and requiring only position and attitude information. The filter is built upon results from Unknown Input Observer theory and allows estimation of wind and vehicle state without measurement of the wind itself. A simple feedback control law can be used to compensate for the offset position error induced by the disturbance. The proposed filter is independent of the recovery control scheme used to nullify the tracking error, as long as the corresponding applied rotor speeds are available. The solution is first checked in simulation environment by using the Robot Operating System middleware and the Gazebo simulator and then experimentally validated with a quadcopter system flying with real wind sources. |
| ArticleNumber | 104930 |
| Author | Azid, Sheikh Izzal Cirrincione, Maurizio Kumar, Krishneel Fagiolini, Adriano |
| Author_xml | – sequence: 1 givenname: Sheikh Izzal orcidid: 0000-0003-1151-0973 surname: Azid fullname: Azid, Sheikh Izzal email: sheikh.azid@usp.ac.fj organization: School of Information Technology, Engineering, Mathematics and Physics, The University of the South Pacific, Fiji – sequence: 2 givenname: Krishneel orcidid: 0000-0002-9449-0244 surname: Kumar fullname: Kumar, Krishneel email: krishneel.kumar@edu.unige.it organization: Electrical Engineering and Complex Systems, University of Genova, Italy – sequence: 3 givenname: Maurizio orcidid: 0000-0003-1886-1514 surname: Cirrincione fullname: Cirrincione, Maurizio email: maurizio.cirrincione@usp.ac.fj organization: School of Information Technology, Engineering, Mathematics and Physics, The University of the South Pacific, Fiji – sequence: 4 givenname: Adriano orcidid: 0000-0001-9943-1975 surname: Fagiolini fullname: Fagiolini, Adriano email: fagiolini@unipa.it organization: Mobile and Intelligent Robots @ Panormous Laboratory (MIRPALab), Department of Engineering, University of Palermo, Italy |
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| Keywords | Robust control ROS/Gazebo Disturbance observers Unknown Input-state observers Robotics Quadrotors |
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| Title | Wind gust estimation for precise quasi-hovering control of quadrotor aircraft |
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