Robust motion control of nonlinear quadrotor model with wind disturbance observer

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Abstract

This paper focuses on robust wind disturbance rejection for nonlinear quadrotor models. By leveraging on nonlinear unknown observer theory, it proposes a nonlinear dynamic filter that, using sensors already on-board the aircraft, can estimate in real-time wind gust signals in the three dimensions. The wind disturbance is then treated as input to the PD controller for a quick and robust flight pathway in presence of disturbances. With this scheme, the wind disturbance can be precisely estimated online and compensated in real-time. Hence, the quadrotor can successfully reach its desired attitude and position. To show the effective and desired performance of the method, simulation results are presented in Matlab/Simulink and ROS-enabled Gazebo platform.

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APA

Azid, S. I., Kumar, K., Cirrincione, M., & Fagiolini, A. (2021). Robust motion control of nonlinear quadrotor model with wind disturbance observer. IEEE Access, 9, 149164–149175. https://doi.org/10.1109/ACCESS.2021.3124609

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