An internal model frame-based disturbance attenuation control scheme for quad-rotors transporting unknown payloads

Hongda Li, Yuan Wang, Zhiwei Shi, Min Chang

Research output: Contribution to journalArticlepeer-review

9 Scopus citations

Abstract

The path following control of quad-rotors transporting uncertain payloads, whose control system is featured with time-variation, high nonlinearity and strong couplings among state variables and inputs, is investigated. Targeting this, an internal model frame-based disturbance attenuation control scheme that requires only rough model information is proposed. Firstly, a novel disturbance estimator (DE) for general single-input-single-output (SISO) system is proposed. Secondly, the DE proposed is applied in transporting unknown payloads by quad-rotors, to estimate the disturbances caused by the payloads for feedback compensation. Lastly, the control scheme based on internal model frame is designed to further reduce the remaining disturbances from disturbance estimation error.

Original languageEnglish
Pages (from-to)3991-4000
Number of pages10
JournalTransactions of the Institute of Measurement and Control
Volume41
Issue number14
DOIs
StatePublished - 1 Oct 2019

Keywords

  • disturbance attenuation
  • internal model
  • path following
  • payload transportation
  • Quad-rotor

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