دورية أكاديمية
Disturbance observer based hierarchical control of coaxial-rotor UAV.
| العنوان: | Disturbance observer based hierarchical control of coaxial-rotor UAV. |
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| المؤلفون: | Mokhtari MR; École supérieure des sciences appliquées de Tlemcen, Algeria; Laboratoire d'Automatique de Tlemcen (LAT). Electrical Engineering Department, Tlemcen University, Algeria. Electronic address: mokhtari_rida_aut@hotmail.fr., Cherki B; École supérieure des sciences appliquées de Tlemcen, Algeria; Laboratoire d'Automatique de Tlemcen (LAT). Electrical Engineering Department, Tlemcen University, Algeria. Electronic address: b.cherki@gmail.com., Braham AC; Laboratoire d'Automatique de Tlemcen (LAT). Electrical Engineering Department, Tlemcen University, Algeria. Electronic address: amel_choukchou@yahoo.fr. |
| المصدر: | ISA transactions [ISA Trans] 2017 Mar; Vol. 67, pp. 466-475. Date of Electronic Publication: 2017 Jan 28. |
| نوع المنشور: | Journal Article |
| اللغة: | English |
| بيانات الدورية: | Publisher: Elsevier Country of Publication: United States NLM ID: 0374750 Publication Model: Print-Electronic Cited Medium: Internet ISSN: 1879-2022 (Electronic) Linking ISSN: 00190578 NLM ISO Abbreviation: ISA Trans Subsets: PubMed not MEDLINE |
| أسماء مطبوعة: | Publication: Research Triangle Park, NC : Elsevier Original Publication: Pittsburgh, Instrument Society of America. |
| مستخلص: | This paper propose an hierarchical controller based on a new disturbance observer with finite time convergence (FTDO) to solve the path tracking of a small coaxial-rotor-typs Unmanned Aerial Vehicles (UAVs) despite of unknown aerodynamic efforts. The hierarchical control technique is used to separate the flight control problem into an inner loop that controls attitude and an outer loop that controls the thrust force acting on the vehicle. The new disturbance observer with finite time convergence is intergated to online estimate the unknown uncertainties and disturbances and to actively compensate them in finite time.The analysis further extends to the design of a control law that takes the disturbance estimation procedure into account. Numerical simulations are carried out to demonstrate the efficiency of the proposed control strategy. (Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.) |
| فهرسة مساهمة: | Keywords: Coaxial-rotor; Disturbance Observer; Finite time convergence; Hierarchical control |
| تواريخ الأحداث: | Date Created: 20170201 Date Completed: 20180221 Latest Revision: 20180221 |
| رمز التحديث: | 20231215 |
| DOI: | 10.1016/j.isatra.2017.01.020 |
| PMID: | 28139207 |
| قاعدة البيانات: | MEDLINE |
Full Text Finder | تدمد: | 1879-2022 |
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| DOI: | 10.1016/j.isatra.2017.01.020 |