Miranda-Moya, Armando (Tecnologico de Monterrey), Castaneda, Herman (Tecnologico de Monterrey), Wang, Hesheng (Shanghai Jiaotong University)

Turbulent Wind Gusts Estimation and Compensation Via High-Gain Extended Observer-Based Adaptive Sliding Mode for a Quadrotor UAV

Scheduled for presentation during the Regular Session "Control Design I" (ThA2), Thursday, June 17, 2021, 12:10−12:30, Kozani

2021 International Conference on Unmanned Aircraft Systems (ICUAS), June 15-18, 2021, Athens, Greece

This information is tentative and subject to change. Compiled on April 26, 2024

Abstract

This paper presents a high-gain extended observer-based adaptive sliding mode scheme for a quadrotor rotorcraft influenced by turbulent wind gusts while performing a defined trajectory. The drag forces caused by the turbulent wind field are estimated through an extended state which collects all uncertainties and perturbations affecting the system. Such estimation is then compensated in the feedback control loop performed by a class of adaptive sliding mode control which provides properties such as robustness, non-overestimation of the control gain, and finite-time convergence. Computer simulation results corroborate the successful performance and feasibility of the proposed strategy even under output noise circumstances.