Discontinuous High-Gain Observer in a Robust Control UAV Quadrotor: Real-Time Application for Watershed Monitoring

Discontinuous High-Gain Observer in a Robust Control UAV Quadrotor: Real-Time Application for Watershed Monitoring

A control algorithm that is robust with respect to wind disturbances for a quadrotor UAV attitude dynamics is presented. The proposed approach consists of a high-gain observer based on a discontinuous technique. Such an algorithm is embedded on board the quadrotor. The high-gain observer estimates e...

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Main Authors: A. E. Rodríguez-Mata, G. Flores, A. H. Martínez-Vásquez, Z. D. Mora-Felix, R. Castro-Linares, L. E. Amabilis-Sosa
Format: Article
Language:English
Published: Hindawi Limited 2018-01-01
Series:Mathematical Problems in Engineering
Online Access:http://dx.doi.org/10.1155/2018/4940360
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spelling doaj-0a81a09dde844ce0ad0cd051d5e87a922020-11-24T21:28:54ZengHindawi LimitedMathematical Problems in Engineering1024-123X1563-51472018-01-01201810.1155/2018/49403604940360Discontinuous High-Gain Observer in a Robust Control UAV Quadrotor: Real-Time Application for Watershed MonitoringA. E. Rodríguez-Mata0G. Flores1A. H. Martínez-Vásquez2Z. D. Mora-Felix3R. Castro-Linares4L. E. Amabilis-Sosa5CONACyT-Tecnológico Nacional de México, Culiacán, CP 80220, MexicoCenter for Research in Optics, León, Guanjuato, CP 37150, MexicoCINVESTAV, Department of Electrical Engineering, Mexico City, CP 07360, MexicoTecnológico Nacional de México, Culiacán, CP 80220, MexicoCINVESTAV, Department of Electrical Engineering, Mexico City, CP 07360, MexicoCONACyT-Tecnológico Nacional de México, Culiacán, CP 80220, MexicoA control algorithm that is robust with respect to wind disturbances for a quadrotor UAV attitude dynamics is presented. The proposed approach consists of a high-gain observer based on a discontinuous technique. Such an algorithm is embedded on board the quadrotor. The high-gain observer estimates external disturbances such as wind and parameter uncertainties, and a control algorithm is designed to compensate these undesired effects. The observer design is based on Lyapunov stability theory; simulation results and experiments validate the nonlinear observer performance and robustness of the approach under windy conditions. Also, a photogrammetry survey was carried out to develop Digital Elevation Models in order to experimentally demonstrate the effectiveness of our approach. The accuracy of such models was compared and the performance improvement is demonstrated.http://dx.doi.org/10.1155/2018/4940360
collection DOAJ
language English
format Article
sources DOAJ
author A. E. Rodríguez-Mata
G. Flores
A. H. Martínez-Vásquez
Z. D. Mora-Felix
R. Castro-Linares
L. E. Amabilis-Sosa
spellingShingle A. E. Rodríguez-Mata
G. Flores
A. H. Martínez-Vásquez
Z. D. Mora-Felix
R. Castro-Linares
L. E. Amabilis-Sosa
Discontinuous High-Gain Observer in a Robust Control UAV Quadrotor: Real-Time Application for Watershed Monitoring
Mathematical Problems in Engineering
author_facet A. E. Rodríguez-Mata
G. Flores
A. H. Martínez-Vásquez
Z. D. Mora-Felix
R. Castro-Linares
L. E. Amabilis-Sosa
author_sort A. E. Rodríguez-Mata
title Discontinuous High-Gain Observer in a Robust Control UAV Quadrotor: Real-Time Application for Watershed Monitoring
title_short Discontinuous High-Gain Observer in a Robust Control UAV Quadrotor: Real-Time Application for Watershed Monitoring
title_full Discontinuous High-Gain Observer in a Robust Control UAV Quadrotor: Real-Time Application for Watershed Monitoring
title_fullStr Discontinuous High-Gain Observer in a Robust Control UAV Quadrotor: Real-Time Application for Watershed Monitoring
title_full_unstemmed Discontinuous High-Gain Observer in a Robust Control UAV Quadrotor: Real-Time Application for Watershed Monitoring
title_sort discontinuous high-gain observer in a robust control uav quadrotor: real-time application for watershed monitoring
publisher Hindawi Limited
series Mathematical Problems in Engineering
issn 1024-123X
1563-5147
publishDate 2018-01-01
description A control algorithm that is robust with respect to wind disturbances for a quadrotor UAV attitude dynamics is presented. The proposed approach consists of a high-gain observer based on a discontinuous technique. Such an algorithm is embedded on board the quadrotor. The high-gain observer estimates external disturbances such as wind and parameter uncertainties, and a control algorithm is designed to compensate these undesired effects. The observer design is based on Lyapunov stability theory; simulation results and experiments validate the nonlinear observer performance and robustness of the approach under windy conditions. Also, a photogrammetry survey was carried out to develop Digital Elevation Models in order to experimentally demonstrate the effectiveness of our approach. The accuracy of such models was compared and the performance improvement is demonstrated.
url http://dx.doi.org/10.1155/2018/4940360
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