Attitude Control of a Quad-rotor System Using an Acceleration-based Disturbance Observer: An Empirical Approach

被引：0

作者：

Jeong, Seung H. ^{[1
]}

Jung, Seul ^{[1
]}

Tomizuka, M. ^{[2
]}

机构：

[1] Chungnam Natl Univ, Dept Mechatron Engn, Taejon 305764, South Korea

[2] Univ Calif Berkeley, Dept Mech Engn, Berkeley, CA 94720 USA

来源：

2012 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM) | 2012年

关键词：

STABILIZATION; TRACKING;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents the disturbance observer design for attitude control of a quad-rotor system. The quad-rotor system is approximated by an inertial system of which an acceleration term is dominant in dynamic behaviors. Acceleration-based disturbance observer (AbDOB) is designed to reject any disturbances for robust attitude control of the system. Acceleration is measured by a gyro sensor and used to estimate control input to estimate the disturbance. Then disturbance is cancelled with the estimated disturbance. Experimental studies are demonstrated to confirm the proposed control scheme.

引用

页码：916 / 921

页数：6

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