In-Ground-Effect Modeling and Nonlinear-Disturbance Observer for Multirotor Unmanned Aerial Vehicle ControlSource: Journal of Dynamic Systems, Measurement, and Control:;2019:;volume( 141 ):;issue: 007::page 71013DOI: 10.1115/1.4043221Publisher: American Society of Mechanical Engineers (ASME)
Abstract: This paper focuses on modeling and control of in-ground-effect (IGE) on multirotor unmanned aerial vehicles (UAVs). As the vehicle flies and hovers over, around, or underneath obstacles, such as the ground, ceiling, and other features, the IGE induces a change in thrust that drastically affects flight behavior. This effect on each rotor can be vastly different as the vehicle's attitude varies, and this phenomenon limits the ability for precision flight control, navigation, and landing in tight and confined spaces. An exponential model describing this effect is proposed, analyzed, and validated through experiments. The model accurately predicts the quasi-steady IGE for an experimental quadcopter UAV. To compensate for the IGE, a model-based feed-forward controller and a nonlinear-disturbance observer (NDO) are designed for closed-loop control. Both controllers are validated through physical experiments, where results show approximately 23% reduction in the tracking error using the NDO compared to the case when IGE is not compensated for.
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contributor author | He, Xiang | |
contributor author | Kou, Gordon | |
contributor author | Calaf, Marc | |
contributor author | Leang, Kam K. | |
date accessioned | 2019-09-18T09:06:46Z | |
date available | 2019-09-18T09:06:46Z | |
date copyright | 5/2/2019 12:00:00 AM | |
date issued | 2019 | |
identifier issn | 0022-0434 | |
identifier other | ds_141_07_071013 | |
identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4259001 | |
description abstract | This paper focuses on modeling and control of in-ground-effect (IGE) on multirotor unmanned aerial vehicles (UAVs). As the vehicle flies and hovers over, around, or underneath obstacles, such as the ground, ceiling, and other features, the IGE induces a change in thrust that drastically affects flight behavior. This effect on each rotor can be vastly different as the vehicle's attitude varies, and this phenomenon limits the ability for precision flight control, navigation, and landing in tight and confined spaces. An exponential model describing this effect is proposed, analyzed, and validated through experiments. The model accurately predicts the quasi-steady IGE for an experimental quadcopter UAV. To compensate for the IGE, a model-based feed-forward controller and a nonlinear-disturbance observer (NDO) are designed for closed-loop control. Both controllers are validated through physical experiments, where results show approximately 23% reduction in the tracking error using the NDO compared to the case when IGE is not compensated for. | |
publisher | American Society of Mechanical Engineers (ASME) | |
title | In-Ground-Effect Modeling and Nonlinear-Disturbance Observer for Multirotor Unmanned Aerial Vehicle Control | |
type | Journal Paper | |
journal volume | 141 | |
journal issue | 7 | |
journal title | Journal of Dynamic Systems, Measurement, and Control | |
identifier doi | 10.1115/1.4043221 | |
journal fristpage | 71013 | |
journal lastpage | 071013-11 | |
tree | Journal of Dynamic Systems, Measurement, and Control:;2019:;volume( 141 ):;issue: 007 | |
contenttype | Fulltext |