Abstract
This paper investigates the hovering control problem of a drone on a 6-DOF mobile platform. An inner-outer loop strategy based on high-gain observer is presented. In the outer loop, the high-gain observer is designed to estimate the states of the drone such that its velocity and acceleration measurements are not necessary, and then a nested saturation controller is designed. In the inner loop, a hybrid controller which can be effectively used for avoiding unwinding phenomenon is applied to regulate the attitude of the drone. Finally, a simulation example is used to demonstrate the effectiveness of the proposed control method.
Originalsprog | Engelsk |
---|---|
Bogserie | IFAC-PapersOnLine |
Vol/bind | 51 |
Udgave nummer | 8 |
Sider (fra-til) | 245-250 |
Antal sider | 6 |
ISSN | 1474-6670 |
DOI | |
Status | Udgivet - 2018 |
Begivenhed | 3rd IFAC Workshop on Automatic Control in Offshore Oil and Gas Production OOGP 2018 - Esbjerg, Danmark Varighed: 30 maj 2018 → 1 jun. 2018 Konferencens nummer: 3 |
Konference
Konference | 3rd IFAC Workshop on Automatic Control in Offshore Oil and Gas Production OOGP 2018 |
---|---|
Nummer | 3 |
Land/Område | Danmark |
By | Esbjerg |
Periode | 30/05/2018 → 01/06/2018 |