Accurate tracking of multirotor UAVs based on  acceleration feedback control and smooth anti-disturbance

Bowen Zhang; Hao Zhang; Qijun Zhou; Jianchuan Ye; Tao Jiang

doi:10.1117/12.3032686

16 August 2024 Accurate tracking of multirotor UAVs based on acceleration feedback control and smooth anti-disturbance

Bowen Zhang, Hao Zhang, Qijun Zhou, Jianchuan Ye, Tao Jiang

Proceedings Volume 13218, First Aerospace Frontiers Conference (AFC 2024); 1321829 (2024) https://doi.org/10.1117/12.3032686
Event: First Aerospace Frontiers Conference (AFC 2024), 2024, Xi’an, China

Abstract

Conventional design methods of multirotor controllers are based on the inverse of kinematic and dynamical models, and their open-loop structure makes acceleration control defective. Therefore, this thesis designs an acceleration feedback-based controller to refine the thrust control structure and ensure strong robustness in the presence of inaccurate model and aerodynamic parameter estimates. In addition, to compensate for external disturbances and suppress the effect of high-frequency noise on the conventional observer, this thesis develops an adaptive dead-zone extended state observer, which ensures accurate and smooth disturbance estimation. The experimental results of the numerical simulations show that: 1) during hovering, when subjected to a sudden disturbance of 5 N, the AFBC converges faster, with a smaller maximal positional error and a stabilization error is less than 1 cm; 2) the maximum error of the proposed control strategy is less than 3 cm when tracking a dynamic circle with a radius of 2 m and a maximum speed of 2 m/s under a wind disturbance environment of 5 m/s. In summary, the proposed control strategy significantly improves the robustness, disturbance resistance, and tracking accuracy of the multirotor with model uncertainty in a complex environment.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Bowen Zhang, Hao Zhang, Qijun Zhou, Jianchuan Ye, and Tao Jiang "Accurate tracking of multirotor UAVs based on acceleration feedback control and smooth anti-disturbance", Proc. SPIE 13218, First Aerospace Frontiers Conference (AFC 2024), 1321829 (16 August 2024); https://doi.org/10.1117/12.3032686

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KEYWORDS

Design

Feedback control

Unmanned aerial vehicles

Aerodynamics

Performance modeling

Device simulation

Error analysis

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