Time domain disturbance observer based control of a quadrotor unmanned aerial vehicle

Ahmed Aboudonia; Ramy Rashad; Ayman El-Badawy

doi:10.1109/ICAT.2015.7340501

Time domain disturbance observer based control of a quadrotor unmanned aerial vehicle

Ahmed Aboudonia, Ramy Rashad, Ayman El-Badawy

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

16 Scopus citations

Abstract

This paper presents a time domain disturbance observer based controller applied to a quadrotor unmanned aerial vehicle. The quadrotor stabilization performance, in its hovering configuration, in the presence of wind disturbances is studied using simulations. The wind disturbances are simulated using the Dryden wind model. The disturbance observer based controller is compared to a state space integral controller. The integral controller is designed based on a pole placement approach using a Lyapunov-based methodology. Simulation results have shown that the disturbance observer based controller is found to offer superior stabilization performance. In addition, it offers the advantage of simplified gains tuning due to the separation property.

Original language	English
Title of host publication	2015 25th International Conference on Information, Communication and Automation Technologies, ICAT 2015 - Proceedings
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781467381468
DOIs	https://doi.org/10.1109/ICAT.2015.7340501
State	Published - 30 Nov 2015
Externally published	Yes
Event	25th International Conference on Information, Communication and Automation Technologies, ICAT 2015 - Sarajevo, Bosnia and Herzegovina Duration: 29 Oct 2015 → 31 Oct 2015

Publication series

Name	2015 25th International Conference on Information, Communication and Automation Technologies, ICAT 2015 - Proceedings

Conference

Conference	25th International Conference on Information, Communication and Automation Technologies, ICAT 2015
Country/Territory	Bosnia and Herzegovina
City	Sarajevo
Period	29/10/15 → 31/10/15

Bibliographical note

Publisher Copyright:
© 2015 IEEE.

Keywords

Dryden model
Wind disturbances
disturbance observer
quadrotor

ASJC Scopus subject areas

Computer Networks and Communications
Information Systems
Control and Systems Engineering

Access to Document

10.1109/ICAT.2015.7340501

Cite this

Aboudonia, A., Rashad, R., & El-Badawy, A. (2015). Time domain disturbance observer based control of a quadrotor unmanned aerial vehicle. In 2015 25th International Conference on Information, Communication and Automation Technologies, ICAT 2015 - Proceedings Article 7340501 (2015 25th International Conference on Information, Communication and Automation Technologies, ICAT 2015 - Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICAT.2015.7340501

Aboudonia, Ahmed ; Rashad, Ramy ; El-Badawy, Ayman. / Time domain disturbance observer based control of a quadrotor unmanned aerial vehicle. 2015 25th International Conference on Information, Communication and Automation Technologies, ICAT 2015 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2015. (2015 25th International Conference on Information, Communication and Automation Technologies, ICAT 2015 - Proceedings).

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abstract = "This paper presents a time domain disturbance observer based controller applied to a quadrotor unmanned aerial vehicle. The quadrotor stabilization performance, in its hovering configuration, in the presence of wind disturbances is studied using simulations. The wind disturbances are simulated using the Dryden wind model. The disturbance observer based controller is compared to a state space integral controller. The integral controller is designed based on a pole placement approach using a Lyapunov-based methodology. Simulation results have shown that the disturbance observer based controller is found to offer superior stabilization performance. In addition, it offers the advantage of simplified gains tuning due to the separation property.",

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author = "Ahmed Aboudonia and Ramy Rashad and Ayman El-Badawy",

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Aboudonia, A, Rashad, R & El-Badawy, A 2015, Time domain disturbance observer based control of a quadrotor unmanned aerial vehicle. in 2015 25th International Conference on Information, Communication and Automation Technologies, ICAT 2015 - Proceedings., 7340501, 2015 25th International Conference on Information, Communication and Automation Technologies, ICAT 2015 - Proceedings, Institute of Electrical and Electronics Engineers Inc., 25th International Conference on Information, Communication and Automation Technologies, ICAT 2015, Sarajevo, Bosnia and Herzegovina, 29/10/15. https://doi.org/10.1109/ICAT.2015.7340501

Time domain disturbance observer based control of a quadrotor unmanned aerial vehicle. / Aboudonia, Ahmed; Rashad, Ramy; El-Badawy, Ayman.
2015 25th International Conference on Information, Communication and Automation Technologies, ICAT 2015 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2015. 7340501 (2015 25th International Conference on Information, Communication and Automation Technologies, ICAT 2015 - Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Rashad, Ramy

AU - El-Badawy, Ayman

PY - 2015/11/30

Y1 - 2015/11/30

N2 - This paper presents a time domain disturbance observer based controller applied to a quadrotor unmanned aerial vehicle. The quadrotor stabilization performance, in its hovering configuration, in the presence of wind disturbances is studied using simulations. The wind disturbances are simulated using the Dryden wind model. The disturbance observer based controller is compared to a state space integral controller. The integral controller is designed based on a pole placement approach using a Lyapunov-based methodology. Simulation results have shown that the disturbance observer based controller is found to offer superior stabilization performance. In addition, it offers the advantage of simplified gains tuning due to the separation property.

AB - This paper presents a time domain disturbance observer based controller applied to a quadrotor unmanned aerial vehicle. The quadrotor stabilization performance, in its hovering configuration, in the presence of wind disturbances is studied using simulations. The wind disturbances are simulated using the Dryden wind model. The disturbance observer based controller is compared to a state space integral controller. The integral controller is designed based on a pole placement approach using a Lyapunov-based methodology. Simulation results have shown that the disturbance observer based controller is found to offer superior stabilization performance. In addition, it offers the advantage of simplified gains tuning due to the separation property.

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KW - Wind disturbances

KW - disturbance observer

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DO - 10.1109/ICAT.2015.7340501

M3 - Conference contribution

AN - SCOPUS:84960856156

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BT - 2015 25th International Conference on Information, Communication and Automation Technologies, ICAT 2015 - Proceedings

PB - Institute of Electrical and Electronics Engineers Inc.

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Aboudonia A, Rashad R, El-Badawy A. Time domain disturbance observer based control of a quadrotor unmanned aerial vehicle. In 2015 25th International Conference on Information, Communication and Automation Technologies, ICAT 2015 - Proceedings. Institute of Electrical and Electronics Engineers Inc. 2015. 7340501. (2015 25th International Conference on Information, Communication and Automation Technologies, ICAT 2015 - Proceedings). doi: 10.1109/ICAT.2015.7340501

Time domain disturbance observer based control of a quadrotor unmanned aerial vehicle

Abstract

Publication series

Conference

Bibliographical note

Keywords

ASJC Scopus subject areas

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Cite this