Abstract
In this paper, a disturbance-observer-based control method for a coaxial rotor unmanned aerial vehicle (CRUAV) with uncertainties is proposed. Firstly, a six-degree-of-freedom nonlinear mathematical model with external disturbance is built. The overall control system is divided into two parts based on the time-scale separation principle: attitude control subsystem and position control subsystem. The nonlinear disturbance observer (NDO) based on the extended Krasovskii method is used to estimate the external disturbance and is integrated into the attitude-position controller. A comprehensive simulation is conducted to verify the tracking performance in trajectory tracking of the developed method.
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Tianliu, W., Peng, L., Chi, P., Hao, D. (2023). The Design of Disturbance Observer Based Controller of CRUAV for Trajectory Tracking. In: Yan, L., Duan, H., Deng, Y. (eds) Advances in Guidance, Navigation and Control. ICGNC 2022. Lecture Notes in Electrical Engineering, vol 845. Springer, Singapore. https://doi.org/10.1007/978-981-19-6613-2_355
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DOI: https://doi.org/10.1007/978-981-19-6613-2_355
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