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http://dx.doi.org/10.12985/ksaa.2018.26.2.061

Disturbance Observer based PID Controller for robustness enhancement of UAVs under the presence of wind disturbance  

Oh, Seungjo (한서대학교 항공시스템공학과)
Lee, Dongjin (한서대학교 무인항공기학과)
Publication Information
Journal of the Korean Society for Aviation and Aeronautics / v.26, no.2, 2018 , pp. 61-67 More about this Journal
Abstract
This paper presents a method to apply disturbance observer to PID controller for robustness enhancement of UAVs. The system uncertainties and disturbances bring adverse effects on performance and stability of UAVs. In this paper, we estimate the acceleration disturbances using nonlinear disturbance observer, then compensate disturbances with composite controller. By employing nonlinear disturbance observer and composite controller, we have better performance and robustness than conventional PID controller. The asymptotical stability of nonlinear disturbance observer is presented through theoretical analysis. The estimation performance of nonlinear disturbance observer is evaluated by numerical simulation. And performance of disturbance observer based PID controller is evaluated by comparing the performance with conventional PID controller.
Keywords
Disturbance Observer based Control; Nonlinear Disturbance Observer; Wind disturbance; Unmanned Aerial Vehicle;
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