Precise Trajectory Tracking of Multi-Rotor UAVs using Wind Disturbance Rejection Approach

This paper discusses the resilience of the UAV quadrotor to wind disturbances. An unknown input-state observer is presented that uses the Lipschitz method to estimate the internal states and disturbances of the quadrotor and compensate for them by varying the velocities of the four rotors. The obser...

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Bibliographic Details
Published inIEEE access Vol. 11; p. 1
Main Authors Azid, Sheikh Izzal, Ali, Sohail Ahmad, Kumar, Meshach, Cirrincione, Maurizio, Fagiolini, Adriano
Format Journal Article
LanguageEnglish
Published Piscataway IEEE 01.01.2023
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Aircraft
Disturbance Rejection
Disturbances
Lipschitz Observer
Observers
Parrots
Quadrotor
Quadrotors
Rotors
Sensor systems
State observers
Trajectory
Trajectory tracking
Uncertainty
Unmanned aerial vehicles
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Summary:This paper discusses the resilience of the UAV quadrotor to wind disturbances. An unknown input-state observer is presented that uses the Lipschitz method to estimate the internal states and disturbances of the quadrotor and compensate for them by varying the velocities of the four rotors. The observer intends to use existing sensor measurements to estimate the unknown states of the quadrotor and reconstruct the three-dimensional wind disturbances. The estimated states and external disturbances are sent to the PD controller, which compensates for the disturbances to achieve the desired position and attitude, as well as robustness and accuracy. The Lipschitz observer was designed using the LMI approach, and the results were validated using Matlab/Simulink and using the Parrot Mambo mini quadrotor.
ISSN:2169-3536
2169-3536
DOI:10.1109/ACCESS.2023.3308297