Frequency-dependent control for wind disturbance rejection of a fully actuated UAV

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Title

Frequency-dependent control for wind disturbance rejection of a fully actuated UAV

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The University of Auckland Library

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ResearchSpace@Auckland

Description

In this paper, an $\textrm{H}_{{\infty }}$ dynamic output feedback controller is experimentally implemented for the position regulation of a fully actuated tilted-rotor octocopter unmanned aerial vehicle (UAV) to improve wind disturbance rejection during station-keeping. To apply the lateral forces, besides the standard tilt-to-translate (attitude-thrust) movement, tilted-rotor UAVs can generate vectored (horizontal) thrust. Vectored-thrust is high-bandwidth but saturation-constrained, while ...

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Format

Research paper

Research format

Journal article

Creator

Bannwarth, Jérémie XJ / Kazemi, Shahab / Stol, Karl

URL

https://hdl.handle.net/2292/70390

Related subjects

4007 Control Engineering, Mechatronics and Robotics / 40 Engineering / 4001 Aerospace Engineering / 4010 Engineering Practice and Education / 7 Affordable and Clean Energy / Science & Technology / Technology / Robotics / Multirotor UAV / disturbance rejection / H infinity control / ROBUST ATTITUDE-CONTROL / MULTIROTOR / DESIGN / 0801 Artificial Intelligence and Image Processing / 0906 Electrical and Electronic Engineering / 0913 Mechanical Engineering / 4002 Automotive engineering / 4009 Electronics, sensors and digital hardware

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