TY - JOUR
T1 - An internal model frame-based disturbance attenuation control scheme for quad-rotors transporting unknown payloads
AU - Li, Hongda
AU - Wang, Yuan
AU - Shi, Zhiwei
AU - Chang, Min
N1 - Publisher Copyright:
© The Author(s) 2019.
PY - 2019/10/1
Y1 - 2019/10/1
N2 - 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.
AB - 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.
KW - Quad-rotor
KW - disturbance attenuation
KW - internal model
KW - path following
KW - payload transportation
UR - https://www.scopus.com/pages/publications/85065660568
U2 - 10.1177/0142331219842323
DO - 10.1177/0142331219842323
M3 - 文章
AN - SCOPUS:85065660568
SN - 0142-3312
VL - 41
SP - 3991
EP - 4000
JO - Transactions of the Institute of Measurement and Control
JF - Transactions of the Institute of Measurement and Control
IS - 14
ER -