Disturbance observer and nonlinear damping control for fast tracking quadrotor vehicles

Citation:
Salton, AT, Eckhard D, Flores JV, Fernandes G, Azevedo G.  2016.  Disturbance observer and nonlinear damping control for fast tracking quadrotor vehicles, Sept. 2016 IEEE Conference on Control Applications (CCA). :705–710., Buenos Aires: IEEE

Date Presented:

Sept

Abstract:

This paper considers the design and implementation of a discrete-time fast tracking controller for quadrotor vehicles subject to perturbations. The proposed controller consists of a model-based disturbance observer and a Composite Nonlinear Feedback (CNF) controller. The CNF control law introduces nonlinear damping to the system so that it possesses a fast rise time without overshoot. The least square identification method is applied to develop a model based disturbance observer, thus decoupling the problems of track following and disturbance rejection. Experimental results are provided in order to validate the proposed approach.

Notes:

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