Adaptive wind disturbance rejection technique of a quadrotor with uncertain dynamic mutations under varying operating conditions
In this paper,considering the influence of wind disturbance and the uncertainty of dynamic mutation due to flight under variable conditions,an adaptive turbulent wind disturbance suppression scheme based on the design of input-disturbance dual compensator is proposed to ensure the stability and output asymptotic tracking performance of the quadrotor system.Firstly,the quadrotor in wind field environment is modeled.The dynamics under different operating conditions are analyzed,and the manifestation of the dynamic mutation and the control problems are described.Then,a method based on an input-disturbance dual compensator is designed to reconstruct the system,which solves the problems of difficult decoupling control when the interactor matrix mutates to a non-diagonal type,and the mutation of controller structure when the relative degree structure mutates.Based on the reconstructed system,an adaptive state feedback controller is designed to ensure the stabilization,disturbance suppression,and asymptotic output tracking performance of the quadrotor.Finally,the stability of the designed controller is proven and the effectiveness of the proposed control algorithm is verified by simulation.
quadrotorwind disturbance suppressiondynamic mutationsystem reconstructionadaptive control
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