A disturbance observer approach with online Q-filter tuning for position control of quadcopters

Shatadal Mishra, Wenlong Zhang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

In this paper, a disturbance observer (DOB) approach is developed to reject disturbance and achieve precision position control of a quadcopter. The Q-filter is tuned to deal with both drift and noise from the onboard sensors. The position estimates are obtained from a hybrid low-pass and de-trending (HLPD) filter. Simulation and experimental flight tests are conducted to demonstrate the performance of the proposed control technique. Experimental flight tests, which include hover test and waypoint following test, prove that the performance of the proposed algorithm is better than the widely used cascaded PID-PID structure. The algorithm doesn't rely on a motion capture system for position estimates which makes it suitable for outdoor flight missions.

Original languageEnglish (US)
Title of host publication2017 American Control Conference, ACC 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3593-3598
Number of pages6
ISBN (Electronic)9781509059928
DOIs
StatePublished - Jun 29 2017
Event2017 American Control Conference, ACC 2017 - Seattle, United States
Duration: May 24 2017May 26 2017

Other

Other2017 American Control Conference, ACC 2017
CountryUnited States
CitySeattle
Period5/24/175/26/17

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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    Mishra, S., & Zhang, W. (2017). A disturbance observer approach with online Q-filter tuning for position control of quadcopters. In 2017 American Control Conference, ACC 2017 (pp. 3593-3598). [7963503] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/ACC.2017.7963503