Wind disturbance rejection for unmanned aerial vehicles using acceleration feedback enhanced H∞ method

One of the most critical issues for unmanned aerial vehicle (UAV) safety and precision flight is wind disturbance. To this end, this paper presents an acceleration feedback (AF) enhanced $$H_\infty $$ method for UAV flight control against wind disturbance and its application on a hex-rotor platform. The dynamics of the UAV system are decoupled into attitude control and position control loops. A hierarchical $$H_\infty $$ controller is then designed for the decoupled system. Finally, an AF-enhanced method is introduced into the decoupled system without altering the original control structure. The stability of the AF-enhanced $$H_\infty $$ method for the UAV system is analyzed and verified using the $$H_\infty $$ theory. Two types of wind disturbances—continuous and gusty winds—are considered and analyzed for guiding the AF-enhanced controller design. The results of an experimental comparison between the $$H_\infty $$ controller and the AF-enhanced $$H_\infty $$ controller against wind disturbances demonstrate the robustness and effectiveness of the proposed method for wind disturbance rejection.

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