Disturbance rejection is a major concern nowadays for the development of autonomous aerial vehicles technology. In this way, in the control community, the researchers propose complex and robust nonlinear controllers that are in several cases so difficult to be applied in real time. In this paper, a robust linear control scheme for nonlinear aerial system is proposed. The scheme is based on the structural properties of the system such as parametric uncertainties and external disturbances. The control scheme is validated experimentally in real time to corroborate their properties on disturbance rejection. Experimental results illustrate the easy implementation and feasibility of the proposed scheme when the vehicle faces three different scenarios; wind-gust disturbance, variable mass and motor failure. In addition, the scheme presents high efficiency in disturbance rejection, smoother convergence to the desired reference and a low computational demand.
Robust linear control scheme for nonlinear aerial systems: an experimental study on disturbance rejection*
2020-09-20
2051901 byte
Conference paper
Electronic Resource
English
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