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所属单位：航空学院

发表刊物：Aeronaut J

摘要：The model of Nano quad-rotors contains many uncertainties such as an external disturbance from a wind field, highly non-linear strong coupling between variables and body measurement errors. To deal with these uncertainties and control the Nano quad-rotors, a novel data-based disturbance observer (DO) is firstly proposed to observe disturbances from a wind field and perturbations from errors of parameter estimation. Then the DO is used to improve the conventional dynamic inversion (DI) method to obtain an enhanced dynamic inversion (EDI) method, which relies only on roughly estimated geometrical parameters, thus eliminating the largest flaw of conventional DI, namely depending on detailed plant information. Simulation results show that the method proposed achieved good trajectory tracking with only roughly estimated geometrical values under wind field; the DO proposed can accurately estimate disturbance from a wind field and perturbation from error of parameter estimation. © Royal Aeronautical Society 2019.

ISSN号：0001-9240

是否译文：否

发表时间：2019-08-01

合写作者：王源

通讯作者：王源,郑祥明