Jasim, O.A. orcid.org/0000-0002-3934-6266 and Veres, S.M. (2020) A robust controller for multi rotor UAVs. Aerospace Science and Technology, 105. 106010. ISSN 1270-9638
Abstract
Unmanned aerial vehicles (UAVs) are safety-critical systems that often need to fly near buildings and over people under adverse wind conditions and hence require high manoeuvrability, accuracy, fast response abilities to ensure safety. Under extreme conditions, the dynamics of these systems are strongly nonlinear and are exposed to disturbances, which need a robust controller to keep the UAV and its environment safe. In this paper a novel robust nonlinear multi-rotor controller is introduced based on essential modifications of standard dynamic inversion control, which makes it insensitive to payload changes and also to large wind gusts. First a robust attitude controller is established, followed by lateral and vertical position control in a customary outer loop. The controllers take into account thrust limitations of the aircraft and theoretical proof is provided for robust performance. The control scheme is illustrated in simulation with a realistic nonlinear dynamical model of an aircraft that includes rotor dynamics and their speed limitations to show robustness. Lyapunov stability methods are used to prove the stability of the robust control system.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2020 Published by Elsevier Masson SAS. This is an author produced version of a paper subsequently published in Aerospace Science and Technology. Uploaded in accordance with the publisher's self-archiving policy. Article available under the terms of the CC-BY-NC-ND licence (https://creativecommons.org/licenses/by-nc-nd/4.0/). |
Keywords: | Robust control; Nonlinear dynamic inversion; Multi-rotor unmanned aerial vehicles |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 07 Jul 2020 08:58 |
Last Modified: | 20 Jan 2022 08:45 |
Status: | Published |
Publisher: | Elsevier BV |
Refereed: | Yes |
Identification Number: | 10.1016/j.ast.2020.106010 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:162955 |