This paper explores a novel anti-disturbance control strategy for quadrotor unmanned aerial vehicle (UAV). Firstly, the dynamics equations of suspended payload and quadrotor UAV are established. Then, extended state observer (ESO) and nonlinear disturbance observer (NDO) are devoted to design a novel control scheme, in which ESO is applied to deal with system uncertainties and external wind disturbance, while NDO is used to suppress payload perturbation for position loop. Finally, based on stability analysis and comparison simulation, the contribution of this study to the development of UAV anti-disturbance is validated.
A novel anti-disturbance control of quadrotor UAV considering wind and suspended payload
2023-06-23
2168493 byte
Conference paper
Electronic Resource
English
Receding Nash control for quadrotor UAV carrying a cable-suspended payload
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