TY - GEN
T1 - Hexacopter outdoor flight test results of an Extended State Observer based controller
AU - Heise, Christian D.
AU - Falconí, Guillermo P.
AU - Holzapfel, Florian
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/1/27
Y1 - 2014/1/27
N2 - Extended State Observers (ESO) provide the appealing capability of estimating states and disturbances (like modeling errors) simultaneously. In this paper we present a modified full-state linear ESO as an augmentation of a baseline attitude tracking controller for a hexacopter. The baseline controller is designed using Nonlinear Dynamic Inversion with relative degree 2. By feeding back the estimated modeling error from the ESO, the performance as well as the robustness of the overall control system is significantly improved. These capabilities are demonstrated in outdoor flight tests with a hexacopter, where controlled flight is achieved even under severe actuator degradation. Due to the linear structure of the presented ESO, this might be an alternative to adaptive controllers in view of certification issues.
AB - Extended State Observers (ESO) provide the appealing capability of estimating states and disturbances (like modeling errors) simultaneously. In this paper we present a modified full-state linear ESO as an augmentation of a baseline attitude tracking controller for a hexacopter. The baseline controller is designed using Nonlinear Dynamic Inversion with relative degree 2. By feeding back the estimated modeling error from the ESO, the performance as well as the robustness of the overall control system is significantly improved. These capabilities are demonstrated in outdoor flight tests with a hexacopter, where controlled flight is achieved even under severe actuator degradation. Due to the linear structure of the presented ESO, this might be an alternative to adaptive controllers in view of certification issues.
UR - http://www.scopus.com/inward/record.url?scp=84943579818&partnerID=8YFLogxK
U2 - 10.1109/ICARES.2014.7024373
DO - 10.1109/ICARES.2014.7024373
M3 - Conference contribution
AN - SCOPUS:84943579818
T3 - Proceeding - ICARES 2014: 2014 IEEE International Conference on Aerospace Electronics and Remote Sensing Technology
SP - 26
EP - 33
BT - Proceeding - ICARES 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Aerospace Electronics and Remote Sensing Technology, ICARES 2014
Y2 - 13 November 2014 through 14 November 2014
ER -