Finite-time stable disturbance observer for unmanned aerial vehicles
Finite-time stable disturbance observer for unmanned aerial vehicles
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DOI：
10.23919/acc53348.2022.9867308
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发表时间：
2022-06
期刊：
影响因子：
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通讯作者：
P. Bhale;Mrinal Kumar;A. Sanyal
中科院分区：
文献类型：
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作者：
P. Bhale;Mrinal Kumar;A. Sanyal
针对无人驾驶飞行器三维平移和旋转运动的离散动力学问题，提出了一种有限时间稳定的扰动观测器设计方法。该车辆的动力学离散化使用李群变分积分器作为灰箱动力学模型，也占未知的附加干扰力和扭矩。因此，输入-状态动态是部分已知的。未知动态被集中为一个单一的干扰力和一个单一的干扰力矩，这两个都是使用我们设计的干扰观测器估计。该干扰观测器是有限时间稳定的（FTS），其工作原理类似于未知动态的实时机器学习方案。
This work provides a finite-time stable disturbance observer design for the discretized dynamics of an unmanned vehicle in three-dimensional translational and rotational motion. The dynamics of this vehicle is discretized using a Lie group variational integrator as a grey box dynamics model that also accounts for unknown additive disturbance force and torque. Therefore, the input-state dynamics is partly known. The unknown dynamics is lumped into a single disturbance force and a single disturbance torque, both of which are estimated using the disturbance observer we design. This disturbance observer is finite-time stable (FTS) and works like a real-time machine learning scheme for the unknown dynamics.