ANZCC 2017 Paper Abstract

Close

Paper TuBOr.3

Kennedy, James (RMIT University), Fisher, Alex (RMIT University), Wang, Liuping (RMIT University), Palmer, Jennifer (Defence Science and Technology Group)

Effects of Actuator Dynamics on Disturbance Rejection for Small Multi-Rotor UAS

Scheduled for presentation during the Regular Session "Robust Control and Optimal Control" (TuBOr), Tuesday, December 19, 2017, 11:30−11:45, Room 7

2017 Australian and New Zealand Control Conference, December 17-20, 2017, Gold Coast Convention Centre, Australia

This information is tentative and subject to change. Compiled on March 29, 2024

Keywords System Modelling and Identification, Control Applications, Robust Control and Systems

Abstract

Small multi-rotor unmanned aircraft systems have many potential applications within urban environments, but large-scale turbulence common in such environments can represent a significant difficulty for their operation. Actuator dynamics affect on an aircraft’s ability to track attitude commands and may influence its ability to reject disturbances. This paper presents a study of the effects of actuator dynamics on a small quadrotor model generated through system identification. A performance-based optimisation that minimises attitude-tracking errors in the presence of disturbances is used. System identification of different combinations of actuator components is performed, and the data is used to investigate the effects of high-frequency actuator dynamics on control-system phase lag and to determine their impact on disturbance rejection performance.

 

 

All Content © PaperCept, Inc.

This site is protected by copyright and trademark laws under US and International law.
All rights reserved. © 2002-2024 PaperCept, Inc.
Page generated 2024-03-29  03:45:46 PST  Terms of use