Acceleration Feedback Enhanced H∞ Control of Unmanned Aerial Vehicle for Wind Disturbance Rejection

Wind disturbance has alway been a critical challenge for safety flight and high precision control of UAV due to the uncertainty of wind in time and space domain. To this end, an acceleration feedback (AF) enhanced H-infinity controller is proposed to enhanced the ability of UAV against wind disturbance and it has been deigned and implemented on a hex-rotor. Firstly, The dynamic of UAV system is decoupled into inner-loop (attitude) and outer-loop (position). Then, a hierarchical H-infinity controller is designed for the decoupled system. Finally, a AF enhanced method is introduced into the system without changing controller structure. The stability of the AF enhanced method for the UAV system is analyzed and can be ensured by H-infinity theory as well. The comparison results of trajectory tracking performance between H-infinity controller and AF enhanced H-infinity controller under continuous and gusty wind verify that the proposed method is not only robust but effective for both types of wind disturbances.