Acceleration Feedback Enhanced Controller for Wind Disturbance Rejection of Rotor Unmanned Aerial Vehicle
DAI Bo1,2,3, HE Yuqing1,2, GU Feng1,2, WANG Qianhan1, XU Weiliang4
1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 2. Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China; 3. University of Chinese Academy of Sciences, Beijing 100049, China; 4. University of Auckland, Auckland 1010, New Zealand
Abstract：In order to enhance the wind rejection ability of unmanned aerial vehicle (UAV) to achieve safe flight and precision control, a wind disturbance rejection method based on acceleration feedback (AF) is proposed for rotor UAV. By introducing linear and angular AF into the original controller, a faster and more accurate attitude and position tracking performance can be obtained without changing the structure of the original controller. Moreover, a simple and fast UAV parameters identification method suitable for acceleration feedback is proposed to deploy AF on a practical UAV system. By using the proposed method, AF is deployed on a hex-rotor and tested in outdoor environment with continuous or gusty winds. The experimental results demonstrate that the AF enhanced controller can suppress these two kinds of wind disturbances effectively and the control accuracy of UAV system is greatly improved.
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