In-Ground-Effect Disturbance-Rejection Altitude Control for Multi-Rotor UAVs - Archive ouverte HAL
Article Dans Une Revue Journal of Intelligent and Robotic Systems Année : 2023

In-Ground-Effect Disturbance-Rejection Altitude Control for Multi-Rotor UAVs

Résumé

This paper presents a robust altitude control that merges the principles of active disturbance rejection control (ADRC) with the inground-effect model (IGE). To this end, a nonlinear extended state observer is designed along the vertical axis, taking attitude and altitude measurements. Then, the forces generated by low-level flight, ground effect and other external disturbances are estimated and used (as an anticipation term) together with a non-linear control law (as a feedback term) to reject them. Closed-loop stability is analyzed in the Lyapunov sense. Extensive numerical simulations and realtime experiments validate the proposal. Thanks to its simplicity, the control algorithm is easy to implement. It can be used for various maneuvers that depend on proximity to the ground, obstacles or surfaces, such as takeoff , landing, inspection, surveillance and hovering.
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hal-04220371 , version 1 (27-09-2023)

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Juan Díaz-Téllez, J. Fermi Guerrero-Castellanos, Florian Pouthier, Nicolas Marchand, Sylvain Durand. In-Ground-Effect Disturbance-Rejection Altitude Control for Multi-Rotor UAVs. Journal of Intelligent and Robotic Systems, 2023, 109 (2), pp.27. ⟨10.1007/s10846-023-01958-4⟩. ⟨hal-04220371⟩
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