Robust control of unmanned helicopters with high-order mismatched disturbances via disturbance-compensation-gain construction approach
In this paper, a novel robust control strategy based on disturbance-compensation-gain (DCG) construction approach is proposed for small-scale unmanned helicopters in the presence of high-order mismatched disturbances. The overall control structure consists of two hierarchical layers. The inner-loop...
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| Published in | Journal of the Franklin Institute Vol. 355; no. 15; pp. 7158 - 7177 |
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| Main Authors | , , |
| Format | Journal Article |
| Language | English |
| Published |
Elmsford
Elsevier Ltd
01.10.2018
Elsevier Science Ltd |
| Subjects | |
| Online Access | Get full text |
| ISSN | 0016-0032 1879-2693 0016-0032 |
| DOI | 10.1016/j.jfranklin.2018.08.015 |
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| Abstract | In this paper, a novel robust control strategy based on disturbance-compensation-gain (DCG) construction approach is proposed for small-scale unmanned helicopters in the presence of high-order mismatched disturbances. The overall control structure consists of two hierarchical layers. The inner-loop controller is to guarantee the stability of the unmanned helicopters subject to high-order mismatched disturbances. With the estimation of the disturbances and their successive derivatives via finite-time disturbance observer (FTDO), by properly designing some disturbance compensation gains, a novel robust controller is developed to remove the high-order mismatched disturbances from the output channels. The outer-loop controller is to produce flight commands for inner-loop system, as well as to track the reference trajectory, which is carried out with the dynamic inversion technique. The simulation results demonstrate that the unmanned helicopters are capable to perform flight missions autonomously with the proposed control strategy. |
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| AbstractList | In this paper, a novel robust control strategy based on disturbance-compensation-gain (DCG) construction approach is proposed for small-scale unmanned helicopters in the presence of high-order mismatched disturbances. The overall control structure consists of two hierarchical layers. The inner-loop controller is to guarantee the stability of the unmanned helicopters subject to high-order mismatched disturbances. With the estimation of the disturbances and their successive derivatives via finite-time disturbance observer (FTDO), by properly designing some disturbance compensation gains, a novel robust controller is developed to remove the high-order mismatched disturbances from the output channels. The outer-loop controller is to produce flight commands for inner-loop system, as well as to track the reference trajectory, which is carried out with the dynamic inversion technique. The simulation results demonstrate that the unmanned helicopters are capable to perform flight missions autonomously with the proposed control strategy. |
| Author | Liu, Fei Fang, Xing Ding, Zhengtao |
| Author_xml | – sequence: 1 givenname: Xing surname: Fang fullname: Fang, Xing email: xingfang@jiangnan.edu.cn organization: Key Laboratory of Advanced Process Control for Light Industry of the Ministry of Education, Institute of Automation, Jiangnan University, Wuxi 214122, PR China – sequence: 2 givenname: Fei surname: Liu fullname: Liu, Fei organization: Key Laboratory of Advanced Process Control for Light Industry of the Ministry of Education, Institute of Automation, Jiangnan University, Wuxi 214122, PR China – sequence: 3 givenname: Zhengtao orcidid: 0000-0003-0690-7853 surname: Ding fullname: Ding, Zhengtao organization: School of Electrical and Electronic Engineering, University of Manchester, Sackville Street Building, Manchester M13 9PL, UK |
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| SubjectTerms | Compensation Control stability Controllers Disturbance observers Dynamic inversion Helicopter performance Helicopters Missions Robust control Structural hierarchy Unmanned aerial vehicles Unmanned helicopters |
| Title | Robust control of unmanned helicopters with high-order mismatched disturbances via disturbance-compensation-gain construction approach |
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