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Development of an equivalent-input-disturbance based altitude controller for sea-skimming unmanned aerial vehicles

机译：基于等效输入干扰的高度控制技术的开发，用于掠海无人机

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Unmanned aerial vehicles (UAVs) with sea-skimming capability are usually operated at a very low altitude, which require fast yet robust height controller to maintain the desired flight level in order to avoid the vehicle ditching into the sea. Due to the disturbance introduced by sea waves, the measured height information is often noisy and inaccurate, which cannot be directly used by the autopilot. To increase the robustness of the longitude autopilot with respect to unknown external disturbance, we present a novel equivalent-input-disturbance based controller, which enables real time disturbance rejection by considering the external disturbance as an equivalent signal applied to the input channel. Simulation results have shown that the proposed method outperforms the conventional PID based controller in the presence of sea wave disturbances.
机译：具有掠海能力的无人飞行器（UAV）通常在非常低的高度上运行，这需要快速而坚固的高度控制器来维持所需的飞行高度，以避免飞行器掉入海中。由于海浪引起的干扰，所测得的高度信息通常嘈杂且不准确，自动驾驶仪无法直接使用。为了提高相对于未知外部干扰的经度自动驾驶仪的鲁棒性，我们提出了一种基于等效输入干扰的新型控制器，该控制器通过将外部干扰视为施加到输入通道的等效信号来实现实时干扰抑制。仿真结果表明，该方法在存在海浪干扰的情况下优于传统的基于PID的控制器。

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