Estimation and compensation of external disturbances of unmanned aerial vehicles

U radu se razmatra estimacija i kompenzacija vanjskih poremećaja kvadkoptera primjenom tri različita observera poremećaja. Implementirani su observer poremećaja u vremenskoj domeni, observer poremećaja s proširenim prostorom stanja i robusni observer poremećaja te su prikazani na jednostavnim primjerima estimacije poremećaja. Izveden je kinematički model kvadkoptera primjenom Euler-ovih kuteva, te je pomoću Newton-Euler-ove formulacije izveden dinamički model kvadkoptera. Na temelju lineariziranog modela kvadkoptera provedena je sinteza regulatora i observera poremećaja za problem slijeđenja referentne trajektorije. Provedena je komparativna analiza performansi pojedinih observera koji su korišteni u radu za slučajeve sa i bez šuma.This paper is dealing with the estimation and compensation of external disturbances of quadcopter using three different disturbance observers. Time domain disturbance observer, extended state observer and robust observer have been implemented and are shown in simple examples of disturbance estimation. Kinematic model of quadcopter has been derived using Euler angles and using Newton-Euler formulations dynamic model od quadcopter has been derived. Based on linearized model of quadcopter, synthesis of the regulator and disturbance observer has been carried out for the following reference trajectory problem. Comparative analysis of the performance of individual observers that were used in this paper was carried out for the cases with and without noise