Hybrid acceleration/velocity-based disturbance observer for a quadrotor manipulation system

Ahmed Khalifa, Mohamed Fanni, Toru Namerikawa

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

Aerial manipulation systems become very attractive for a wide range of applications due to their unique features. However, control of such system is quite challenging due to its high nonlinearities, couplings, and external disturbances. In this paper, a Disturbance Observer (DOb)-based linearization of a quadrotor manipulation system is utilized. The DOb estimates the disturbances and nonlinearities, then compensates them such that one can treat the control problem based on a simple linear control algorithm. However, the current developed DOb schemes in the literature are based on the precise measurement of the acceleration or the estimation of the velocity. Unlike, these methods, we propose a modified DOb, which is based on both the measured linear accelerations and angular velocities that can be obtained directly from the onboard Inertial Measurement Unit (IMU) and encoders. With this technique, the estimation of nonlinearities and disturbances are carried out without the need of estimation acceleration or velocity, and it is model free. The Effectiveness of the proposed technique is verified via numerical simulations.

本文言語English
ホスト出版物のタイトル2016 IEEE Conference on Control Applications, CCA 2016
出版社Institute of Electrical and Electronics Engineers Inc.
ページ556-561
ページ数6
ISBN(電子版)9781509007554
DOI
出版ステータスPublished - 2016 10月 10
イベント2016 IEEE Conference on Control Applications, CCA 2016 - Buenos Aires, Argentina
継続期間: 2016 9月 192016 9月 22

出版物シリーズ

名前2016 IEEE Conference on Control Applications, CCA 2016

Other

Other2016 IEEE Conference on Control Applications, CCA 2016
国/地域Argentina
CityBuenos Aires
Period16/9/1916/9/22

ASJC Scopus subject areas

  • 制御と最適化
  • モデリングとシミュレーション

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