Opto-electronic platform tracking control of multi-rotor unmanned aerial vehicles based on composite disturbance compensation

doi:10.1177/0954410018823623

CIOMP OpenIR

	Opto-electronic platform tracking control of multi-rotor unmanned aerial vehicles based on composite disturbance compensation
	R.J.Wang; Y.Bai; Z.Q.Zeng; J.Y.Wang; W.H.Du; N.Q.Duan
	2019
发表期刊	Proceedings of the Institution of Mechanical Engineers Part G-Journal of Aerospace Engineering
ISSN	0954-4100
卷号	233 期号:12 页码:4410-4420
摘要	Airborne opto-electronic platforms are very important in unmanned aerial vehicle systems. The stability and tracking performance of airborne opto-electronic platforms are easily affected by disturbance factors, making compensating for those disturbances a very prominent issue. In this paper, compared to the traditional disturbance observer, an improved velocity signal based disturbance observer (IVDOB) is particularly designed to compensate for the disturbance. Then its capability, robustness, and stability are discussed. For improving the stabilization accuracy and tracking performance of airborne opto-electronic platforms, the universal approximation property of fuzzy systems is used to compensate the disturbance further and an adaptive fuzzy control system based on IVDOBs is proposed. To validate the scheme, a series of experiments were carried out. The results show that the proposed control scheme can achieve reliable control precision and satisfy the requirements of airborne opto-electronic platform tasks.
关键词	Multi-rotor unmanned aerial vehicle,airborne opto-electronic platform,composite disturbance compensation,disturbance observer,approximation,property,Engineering
DOI	10.1177/0954410018823623
收录类别	SCI ; EI
语种	英语
引用统计
文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/62995
专题	中国科学院长春光学精密机械与物理研究所
推荐引用方式 GB/T 7714	R.J.Wang,Y.Bai,Z.Q.Zeng,et al. Opto-electronic platform tracking control of multi-rotor unmanned aerial vehicles based on composite disturbance compensation[J]. Proceedings of the Institution of Mechanical Engineers Part G-Journal of Aerospace Engineering,2019,233(12):4410-4420.
APA	R.J.Wang,Y.Bai,Z.Q.Zeng,J.Y.Wang,W.H.Du,&N.Q.Duan.(2019).Opto-electronic platform tracking control of multi-rotor unmanned aerial vehicles based on composite disturbance compensation.Proceedings of the Institution of Mechanical Engineers Part G-Journal of Aerospace Engineering,233(12),4410-4420.
MLA	R.J.Wang,et al."Opto-electronic platform tracking control of multi-rotor unmanned aerial vehicles based on composite disturbance compensation".Proceedings of the Institution of Mechanical Engineers Part G-Journal of Aerospace Engineering 233.12(2019):4410-4420.

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