Finite-time stable disturbance observer for unmanned aerial vehicles

Pradhyumn Bhale, Mrinal Kumar, Amit K. Sanyal

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publication2022 American Control Conference, ACC 2022
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5010-5015
Number of pages6
ISBN (Electronic)9781665451963
DOIs
StatePublished - 2022
Event2022 American Control Conference, ACC 2022 - Atlanta, United States
Duration: Jun 8 2022Jun 10 2022

Publication series

NameProceedings of the American Control Conference
Volume2022-June
ISSN (Print)0743-1619

Conference

Conference2022 American Control Conference, ACC 2022
Country/TerritoryUnited States
CityAtlanta
Period6/8/226/10/22

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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