MRAC-Based Nonlinear Disturbance Observer And Its Applications To UAV Control

Shuai Li; Ville Pitkanen; Antti Tikanmaki; Petteri Alahuhta; Juha Roning

doi:10.1109/ICNSC58704.2023.10318844

MRAC-Based Nonlinear Disturbance Observer And Its Applications To UAV Control

Shuai Li^*
, Ville Pitkanen
, Antti Tikanmaki
, Petteri Alahuhta
, Juha Roning

^*Corresponding author for this work

BA56 Cognitive production industry

University of Oulu

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceedings › Scientific › peer-review

1 Citation (Scopus)

Abstract

Unknown disturbances are one of the most critical factors impacting control performances, and the design of globally convergent disturbance observers for estimation of disturbances in real-time plays an important role in improving the performance of control systems. This work presents the design of a novel disturbance observer based on model reference adaptive control to relax the restrictive gain conditions in conventional nonlinear disturbance observer design. The proposed Model Reference Adaptive Control-based Nonlinear Disturbance Observer (MRAC-NDO) features a simple structure with theoretically guaranteed global convergence for estimating unknown disturbances appearing in affine systems. The proposed strategy is applied to unmanned aerial vehicles (UAVs) based on cascaded control incorporated by MRAC-NDO disturbance compensation. Numerical results validate the effectiveness of the proposed solution.

Original language	English
Title of host publication	2023 IEEE International Conference on Networking, Sensing and Control (ICNSC)
Publisher	IEEE Institute of Electrical and Electronic Engineers
ISBN (Electronic)	9798350369502
ISBN (Print)	979-8-3503-6951-9
DOIs	https://doi.org/10.1109/ICNSC58704.2023.10318844
Publication status	Published - 2023
MoE publication type	A4 Article in a conference publication
Event	20th IEEE International Conference on Networking, Sensing and Control, ICNSC 2023 - Marseille, France Duration: 25 Oct 2023 → 27 Oct 2023

Conference

Conference	20th IEEE International Conference on Networking, Sensing and Control, ICNSC 2023
Country/Territory	France
City	Marseille
Period	25/10/23 → 27/10/23

Keywords

Affine systems
Disturbance observer
Model reference adaptive control
MRAC-NDO
UAV

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10.1109/ICNSC58704.2023.10318844

Cite this

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title = "MRAC-Based Nonlinear Disturbance Observer And Its Applications To UAV Control",

abstract = "Unknown disturbances are one of the most critical factors impacting control performances, and the design of globally convergent disturbance observers for estimation of disturbances in real-time plays an important role in improving the performance of control systems. This work presents the design of a novel disturbance observer based on model reference adaptive control to relax the restrictive gain conditions in conventional nonlinear disturbance observer design. The proposed Model Reference Adaptive Control-based Nonlinear Disturbance Observer (MRAC-NDO) features a simple structure with theoretically guaranteed global convergence for estimating unknown disturbances appearing in affine systems. The proposed strategy is applied to unmanned aerial vehicles (UAVs) based on cascaded control incorporated by MRAC-NDO disturbance compensation. Numerical results validate the effectiveness of the proposed solution.",

keywords = "Affine systems, Disturbance observer, Model reference adaptive control, MRAC-NDO, UAV",

author = "Shuai Li and Ville Pitkanen and Antti Tikanmaki and Petteri Alahuhta and Juha Roning",

year = "2023",

doi = "10.1109/ICNSC58704.2023.10318844",

language = "English",

isbn = "979-8-3503-6951-9",

booktitle = "2023 IEEE International Conference on Networking, Sensing and Control (ICNSC)",

publisher = "IEEE Institute of Electrical and Electronic Engineers",

address = "United States",

note = "20th IEEE International Conference on Networking, Sensing and Control, ICNSC 2023 ; Conference date: 25-10-2023 Through 27-10-2023",

}

Li, S, Pitkanen, V, Tikanmaki, A, Alahuhta, P & Roning, J 2023, MRAC-Based Nonlinear Disturbance Observer And Its Applications To UAV Control. in 2023 IEEE International Conference on Networking, Sensing and Control (ICNSC). IEEE Institute of Electrical and Electronic Engineers, 20th IEEE International Conference on Networking, Sensing and Control, ICNSC 2023, Marseille, France, 25/10/23. https://doi.org/10.1109/ICNSC58704.2023.10318844

MRAC-Based Nonlinear Disturbance Observer And Its Applications To UAV Control. / Li, Shuai; Pitkanen, Ville; Tikanmaki, Antti et al.
2023 IEEE International Conference on Networking, Sensing and Control (ICNSC). IEEE Institute of Electrical and Electronic Engineers, 2023.

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceedings › Scientific › peer-review

TY - GEN

T1 - MRAC-Based Nonlinear Disturbance Observer And Its Applications To UAV Control

AU - Li, Shuai

AU - Pitkanen, Ville

AU - Tikanmaki, Antti

AU - Alahuhta, Petteri

AU - Roning, Juha

PY - 2023

Y1 - 2023

N2 - Unknown disturbances are one of the most critical factors impacting control performances, and the design of globally convergent disturbance observers for estimation of disturbances in real-time plays an important role in improving the performance of control systems. This work presents the design of a novel disturbance observer based on model reference adaptive control to relax the restrictive gain conditions in conventional nonlinear disturbance observer design. The proposed Model Reference Adaptive Control-based Nonlinear Disturbance Observer (MRAC-NDO) features a simple structure with theoretically guaranteed global convergence for estimating unknown disturbances appearing in affine systems. The proposed strategy is applied to unmanned aerial vehicles (UAVs) based on cascaded control incorporated by MRAC-NDO disturbance compensation. Numerical results validate the effectiveness of the proposed solution.

AB - Unknown disturbances are one of the most critical factors impacting control performances, and the design of globally convergent disturbance observers for estimation of disturbances in real-time plays an important role in improving the performance of control systems. This work presents the design of a novel disturbance observer based on model reference adaptive control to relax the restrictive gain conditions in conventional nonlinear disturbance observer design. The proposed Model Reference Adaptive Control-based Nonlinear Disturbance Observer (MRAC-NDO) features a simple structure with theoretically guaranteed global convergence for estimating unknown disturbances appearing in affine systems. The proposed strategy is applied to unmanned aerial vehicles (UAVs) based on cascaded control incorporated by MRAC-NDO disturbance compensation. Numerical results validate the effectiveness of the proposed solution.

KW - Affine systems

KW - Disturbance observer

KW - Model reference adaptive control

KW - MRAC-NDO

KW - UAV

UR - https://www.scopus.com/pages/publications/85179622510

U2 - 10.1109/ICNSC58704.2023.10318844

DO - 10.1109/ICNSC58704.2023.10318844

M3 - Conference article in proceedings

AN - SCOPUS:85179622510

SN - 979-8-3503-6951-9

BT - 2023 IEEE International Conference on Networking, Sensing and Control (ICNSC)

PB - IEEE Institute of Electrical and Electronic Engineers

T2 - 20th IEEE International Conference on Networking, Sensing and Control, ICNSC 2023

Y2 - 25 October 2023 through 27 October 2023

ER -

MRAC-Based Nonlinear Disturbance Observer And Its Applications To UAV Control

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