Acceleration Feedback Enhanced H∞ Control of Unmanned Aerial Vehicle for Wind Disturbance Rejection

Wind disturbance has always been a critical challenge for safety flight and high precision control of UAV due to the uncertainty of wind in time and space domain. To this end, an acceleration feedback (AF) enhanced H1 controller is proposed to enhanced the ability of UAV against wind disturbance and it has been designed and implemented on a hex-rotor. Firstly, the dynamic of UAV system is decoupled into inner-loop (attitude) and outer-loop (position). Then, a hierarchical H1 controller is designed for the decoupled system. Finally, a AF enhanced method is introduced into the system without changing controller structure. The stability of the AF enhanced method for the UAV system is analyzed and can be ensured by H1 theory as well. The comparison results of trajectory tracking performance between H1 controller and AF enhanced H1 controller under continuous and gusty wind verify that the proposed method is not only robust but effective for both types of wind disturbances