Robust Attitude Control of Multi-Rotors for Aerial Manipulation (I)

Resumen: In this paper, a robust attitude control applied to multi-rotor UAVs used in load transportation tasks is presented. When a load is attached to the UAV, the distance from the origin of the body-fixed coordinate system to the vehicle's center of gravity is diferent from zero, which induces external torques and disturbances. The objective is the design of an Active Disturbance Rejection Control (ADRC) to stabilize the attitude subject to external disturbance and uncertain, unknown, unpredictable, or unmodeled dynamics. All these quantities are grouped into a single disturbance vector which is estimated online via an extended state observer (ESO). Then, a quaternion-based feedback is used to stabilize the attitude, which takes into account the maximum torque allowed by the actuators. The efectiveness of this control scheme is evaluated by numerical simulation.

¿Cómo citar?

J. Díaz-Téllez, J.F. Guerrero-Castellanos & L. Villalpando-Portillo. Robust Attitude Control of Multi-Rotors for Aerial Manipulation (I). Memorias del Congreso Nacional de Control Automático, pp. 61-66, 2019.

Palabras clave

Control Robusto, Control de Sistemas No Lineales, Modelado e Identificación de Sistemas

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