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Conference proceeding
Design of a nested saturation controller with improved wind disturbance rejection for UAVs
AIAA Scitech 2021 Forum , 2021-1005 (Virtual, 01/2021)
2021
Abstract
This paper presents an augmented nested saturation controller for Unmanned Aerial Vehicles (UAVs) to achieve steady state wind rejection. The work improves a control law that is not able to reject wind disturbances for UAV dynamics by introducing proportional and derivative multipliers and a saturation element. The augmented nested saturation controller is able to reject ambient wind disturbances and limit uncontrollable spikes in state error when there is a strong wind gust. The controller is evaluated on path following tasks with both circular and linear trajectories. The experiments are carried out on Software-in-the-Loop simulation on Gazebo which offers realistic dynamic behavior. The results show that developed approach successfully rejected steady winds up to 1.3N. The augmented controller achieved stability with 1.3N for a straight and circular path where the original nested controller is not able to do so.
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Details
- Title
- Design of a nested saturation controller with improved wind disturbance rejection for UAVs
- Resource Type
- Conference proceeding
- Conference
- AIAA Scitech 2021 Forum , 2021-1005 (Virtual, 01/2021)
- Publisher
- American Institute of Aeronautics and Astronautics, Inc.,
- Copyright
- 2021 by Hakki Erhan Sevil
- Identifiers
- 99380090303806600
- Academic Unit
- Intelligent Systems and Robotics
- Language
- English