In this work we deal with the non-linear control of aerial vehicles under external disturbances. We develop a non-linear velocity controller able to accommodate estimations of the external disturbing forces and moments. To estimate the external actions and at the same time provide improvements on the state estimation we make use of the EKF approach. Finally, we present simulations comparing close loop performance of a system with the proposed methodology implemented against close loop performance of the same controller but without the
estimation of the external forces.
CitationCayero, J., Pep Cugueró Escofet, Morcego, B. Impedance control of a planar quadrotor with an extended Kalman filter external wrench estimator. A: euRathlon/SHERPA SUMMER SCHOOL 2015 ON FIELD ROBOTICS. "euRathlon/SHERPA SUMMER SCHOOL 2015 ON FIELD ROBOTICS". Oulu: 2015, p. 1-5.
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