Disturbance Attenuation Predictive Optimal Control for Quad-Rotor Transporting Unknown Varying Payload
Quad-rotor is very suitable for payload transportation due to the merits of high maneuverability and free hovering. However, the unknown varying payloads can cause negative influences that act in forms of persistent disturbances and sudden changes, damaging flight performance especially the attitude...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
IEEE
2020-01-01
|
| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9020174/ |
| _version_ | 1818910268766289920 |
|---|---|
| author | Yuan Wang Hongming Cai Junmiao Zhang Xubo Li |
| author_facet | Yuan Wang Hongming Cai Junmiao Zhang Xubo Li |
| author_sort | Yuan Wang |
| collection | DOAJ |
| description | Quad-rotor is very suitable for payload transportation due to the merits of high maneuverability and free hovering. However, the unknown varying payloads can cause negative influences that act in forms of persistent disturbances and sudden changes, damaging flight performance especially the attitude stability seriously. Targeting the persistent disturbances, an entirely novel disturbance estimator (DE) which can estimate non-smooth disturbances in a highly accurate manner for feedback compensation is proposed in this paper. To deal with the sudden changes from prescribed references and the payloads that may induce too large overshoots and input surging, a type of predictive optimal controller, which considers tracking errors and their changing rates of a class of linear multiple-input-multiple-output systems, is developed. Simulation results show that the system enhanced by the DE has better control performance than the ones enhanced by the commonly used extended state observer or nonlinear disturbance observer. Compared with the typical control approaches, the proposed control scheme enables the quad-rotor attitude system more stable performance and more ideal inputs on both persistent disturbance and sudden change resisting during payload transportation. |
| first_indexed | 2024-12-19T22:40:07Z |
| format | Article |
| id | doaj.art-b96fdd1c03884f088623a8997c7fe462 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-19T22:40:07Z |
| publishDate | 2020-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-b96fdd1c03884f088623a8997c7fe4622022-12-21T20:03:05ZengIEEEIEEE Access2169-35362020-01-018446714468610.1109/ACCESS.2020.29776819020174Disturbance Attenuation Predictive Optimal Control for Quad-Rotor Transporting Unknown Varying PayloadYuan Wang0https://orcid.org/0000-0003-0422-4928Hongming Cai1Junmiao Zhang2Xubo Li3Key Laboratory of Fundamental Science for National Defense-Advanced Design Technology of Flight Vehicle, Nanjing University of Aeronautics and Astronautics, Nanjing, ChinaSchool of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, ChinaSchool of Energy and Power Engineering, Jiangsu University of Science and Technology, Zhenjiang, ChinaKey Laboratory of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing, ChinaQuad-rotor is very suitable for payload transportation due to the merits of high maneuverability and free hovering. However, the unknown varying payloads can cause negative influences that act in forms of persistent disturbances and sudden changes, damaging flight performance especially the attitude stability seriously. Targeting the persistent disturbances, an entirely novel disturbance estimator (DE) which can estimate non-smooth disturbances in a highly accurate manner for feedback compensation is proposed in this paper. To deal with the sudden changes from prescribed references and the payloads that may induce too large overshoots and input surging, a type of predictive optimal controller, which considers tracking errors and their changing rates of a class of linear multiple-input-multiple-output systems, is developed. Simulation results show that the system enhanced by the DE has better control performance than the ones enhanced by the commonly used extended state observer or nonlinear disturbance observer. Compared with the typical control approaches, the proposed control scheme enables the quad-rotor attitude system more stable performance and more ideal inputs on both persistent disturbance and sudden change resisting during payload transportation.https://ieeexplore.ieee.org/document/9020174/Quad-rotorpayload transportationdisturbance attenuationpredictive optimal control |
| spellingShingle | Yuan Wang Hongming Cai Junmiao Zhang Xubo Li Disturbance Attenuation Predictive Optimal Control for Quad-Rotor Transporting Unknown Varying Payload IEEE Access Quad-rotor payload transportation disturbance attenuation predictive optimal control |
| title | Disturbance Attenuation Predictive Optimal Control for Quad-Rotor Transporting Unknown Varying Payload |
| title_full | Disturbance Attenuation Predictive Optimal Control for Quad-Rotor Transporting Unknown Varying Payload |
| title_fullStr | Disturbance Attenuation Predictive Optimal Control for Quad-Rotor Transporting Unknown Varying Payload |
| title_full_unstemmed | Disturbance Attenuation Predictive Optimal Control for Quad-Rotor Transporting Unknown Varying Payload |
| title_short | Disturbance Attenuation Predictive Optimal Control for Quad-Rotor Transporting Unknown Varying Payload |
| title_sort | disturbance attenuation predictive optimal control for quad rotor transporting unknown varying payload |
| topic | Quad-rotor payload transportation disturbance attenuation predictive optimal control |
| url | https://ieeexplore.ieee.org/document/9020174/ |
| work_keys_str_mv | AT yuanwang disturbanceattenuationpredictiveoptimalcontrolforquadrotortransportingunknownvaryingpayload AT hongmingcai disturbanceattenuationpredictiveoptimalcontrolforquadrotortransportingunknownvaryingpayload AT junmiaozhang disturbanceattenuationpredictiveoptimalcontrolforquadrotortransportingunknownvaryingpayload AT xuboli disturbanceattenuationpredictiveoptimalcontrolforquadrotortransportingunknownvaryingpayload |