TY - GEN
T1 - A disturbance observer approach with online Q-filter tuning for position control of quadcopters
AU - Mishra, Shatadal
AU - Zhang, Wenlong
N1 - Publisher Copyright:
© 2017 American Automatic Control Council (AACC).
PY - 2017/6/29
Y1 - 2017/6/29
N2 - In this paper, a disturbance observer (DOB) approach is developed to reject disturbance and achieve precision position control of a quadcopter. The Q-filter is tuned to deal with both drift and noise from the onboard sensors. The position estimates are obtained from a hybrid low-pass and de-trending (HLPD) filter. Simulation and experimental flight tests are conducted to demonstrate the performance of the proposed control technique. Experimental flight tests, which include hover test and waypoint following test, prove that the performance of the proposed algorithm is better than the widely used cascaded PID-PID structure. The algorithm doesn't rely on a motion capture system for position estimates which makes it suitable for outdoor flight missions.
AB - In this paper, a disturbance observer (DOB) approach is developed to reject disturbance and achieve precision position control of a quadcopter. The Q-filter is tuned to deal with both drift and noise from the onboard sensors. The position estimates are obtained from a hybrid low-pass and de-trending (HLPD) filter. Simulation and experimental flight tests are conducted to demonstrate the performance of the proposed control technique. Experimental flight tests, which include hover test and waypoint following test, prove that the performance of the proposed algorithm is better than the widely used cascaded PID-PID structure. The algorithm doesn't rely on a motion capture system for position estimates which makes it suitable for outdoor flight missions.
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U2 - 10.23919/ACC.2017.7963503
DO - 10.23919/ACC.2017.7963503
M3 - Conference contribution
AN - SCOPUS:85027009367
T3 - Proceedings of the American Control Conference
SP - 3593
EP - 3598
BT - 2017 American Control Conference, ACC 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 American Control Conference, ACC 2017
Y2 - 24 May 2017 through 26 May 2017
ER -