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Tracking control of quad-rotor helicopters suspended a power supply cable with online estimation of disturbances based on input-output linearisation

Tracking control of quad-rotor helicopters suspended a power supply cable with online estimation... In this paper, we propose a tracking controller for quad-rotors suspended a flexible cable. The quad-rotor helicopter cannot fly for a long time, because of its battery limit. The quadrotor helicopter is described by a set of nonlinear equations, which make it difficult to control. The first contribution in this paper is to present a new disturbance observer to estimate online both the tension of the cable and unknown disturbances applied to dynamics. The second one is to propose a new exact linearisation method which reduces the nonlinear closed-loop system to a linear controllable state equation by changing coordinates in the state-space. By using the linearisation, a new tracking controller based on the disturbance observer is presented for obtaining asymptotically rejection against unknown constant disturbances. Keywords: quad-rotor helicopter; power supply cable; estimation of disturbance; linearisation; position tracking control. Reference to this paper should be made as follows: Hayakawa, H., Obata, S. and Yamada, M. (2016) `Tracking control of quad-rotor helicopters suspended a power supply cable with online estimation of disturbances based on input-output linearisation', Int. J. Advanced Mechatronic Systems, Vol. 7, No. 2, pp.114­123. Biographical notes: Hayami Hayakawa received his BE degree from the Department of Mechanical Engineering, http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png International Journal of Advanced Mechatronic Systems Inderscience Publishers

Tracking control of quad-rotor helicopters suspended a power supply cable with online estimation of disturbances based on input-output linearisation

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Publisher
Inderscience Publishers
Copyright
Copyright © 2016 Inderscience Enterprises Ltd.
ISSN
1756-8412
eISSN
1756-8420
DOI
10.1504/IJAMECHS.2016.082629
Publisher site
See Article on Publisher Site

Abstract

In this paper, we propose a tracking controller for quad-rotors suspended a flexible cable. The quad-rotor helicopter cannot fly for a long time, because of its battery limit. The quadrotor helicopter is described by a set of nonlinear equations, which make it difficult to control. The first contribution in this paper is to present a new disturbance observer to estimate online both the tension of the cable and unknown disturbances applied to dynamics. The second one is to propose a new exact linearisation method which reduces the nonlinear closed-loop system to a linear controllable state equation by changing coordinates in the state-space. By using the linearisation, a new tracking controller based on the disturbance observer is presented for obtaining asymptotically rejection against unknown constant disturbances. Keywords: quad-rotor helicopter; power supply cable; estimation of disturbance; linearisation; position tracking control. Reference to this paper should be made as follows: Hayakawa, H., Obata, S. and Yamada, M. (2016) `Tracking control of quad-rotor helicopters suspended a power supply cable with online estimation of disturbances based on input-output linearisation', Int. J. Advanced Mechatronic Systems, Vol. 7, No. 2, pp.114­123. Biographical notes: Hayami Hayakawa received his BE degree from the Department of Mechanical Engineering,

Journal

International Journal of Advanced Mechatronic Systems – Inderscience Publishers

Published: Jan 1, 2016

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