In-Ground-Effect Disturbance-Rejection Altitude Control for Multi-Rotor UAVs
Sep 21, 2023·
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0 min read
Juan DĂaz-TĂ©llez
J. Fermi Guerrero-Castellanos
Florian Pouthier
Nicolas Marchand
Sylvain Durand
Abstract
This paper presents a robust altitude control that merges the principles of active disturbance rejection control (ADRC) with the in-ground-effect model (IGE). To this end, a nonlinear extended state observer is designed along the vertical axis, taking attitude and altitude measurements. Then, the forces generated by low-level flight, ground effect and other external disturbances are estimated and used (as an anticipation term) together with a non-linear control law (as a feedback term) to reject them. Closed-loop stability is analyzed in the Lyapunov sense. Extensive numerical simulations and real-time experiments validate the proposal. Thanks to its simplicity, the control algorithm is easy to implement. It can be used for various maneuvers that depend on proximity to the ground, obstacles or surfaces, such as take-off, landing, inspection, surveillance and hovering.
Type
Publication
Journal of Intelligent & Robotic Systems, 109(27)
Status
Peer-reviewed
Open access
Funding
FORDECYT-PRONACES - SEP-CONACYT-ANUIES-ECOS Nord (MX-296702 & FR-M18M02)
License
CC-BY-4.0
Authors
Doctor in Control and Robotics
My research focuses on the efficient navigation of UAVs in constrained environments. I recently joined the LEASARD CominLabs project at LS2N Nantes, in which I investigate SLAM and navigation algorithms with event-based cameras to improve drone autonomy in cluttered environments. This work is supervised by Isabelle Fantoni. My Ph.D. thesis work, led at ICube Strasbourg and GIPSA-lab Grenoble, has been dedicated to the event-driven navigation of a drone in dark environments, as a part of the dark-NAV ANR project. This thesis has been supervised by Nicolas Marchand and Sylvain Durand. Through my research work, I developed research interests in aerial robotics, robust control and set theory. As a graduate of an engineering school (INSA Strasbourg), I have developed a taste for control theory, which I try to deploy as much as possible on real control systems.
