Journal of the Korean Society for Aviation and Aeronautics (한국항공운항학회지)

The Korean Society for Aviation and Aeronautics (한국항공운항학회)
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Disturbance Observer based PID Controller for robustness enhancement of UAVs under the presence of wind disturbance

무인항공기의 내풍성 강화를 위한 제어기의 외란관측기 연구

  • 오승조 (한서대학교 항공시스템공학과) ;
  • 이동진 (한서대학교 무인항공기학과)
  • Received : 2018.05.21
  • Accepted : 2018.06.30
  • Published : 2018.06.30
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Abstract

This paper presents a method to apply disturbance observer to PID controller for robustness enhancement of UAVs. The system uncertainties and disturbances bring adverse effects on performance and stability of UAVs. In this paper, we estimate the acceleration disturbances using nonlinear disturbance observer, then compensate disturbances with composite controller. By employing nonlinear disturbance observer and composite controller, we have better performance and robustness than conventional PID controller. The asymptotical stability of nonlinear disturbance observer is presented through theoretical analysis. The estimation performance of nonlinear disturbance observer is evaluated by numerical simulation. And performance of disturbance observer based PID controller is evaluated by comparing the performance with conventional PID controller.

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References

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