In this article, we introduce a translational force control method with disturbance observer (DOB)-based force disturbance cancellation for precise 3-D acceleration control of a multi-rotor unmanned aerial vehicle (UAV). The acceleration control of the multi-rotor requires conversion of the desired acceleration signal to the desired roll, pitch, and total thrust. However, because the attitude dynamics and the thrust dynamics are different, simple kinematic signal conversion without consideration of those difference can cause serious performance degradation in acceleration tracking. Unlike most existing translational force control techniques that are based on such simple inversion, our new method allows controlling the acceleration of the multi-rotor more precisely by considering the dynamics of the multi-rotor during the kinematic inversion. By combining the DOB with the translational force system that includes the improved conversion technique, we achieve robustness with respect to the external force disturbances that hinder the accurate acceleration control. $\mu $ -analysis is performed to ensure the robust stability of the overall closed-loop system, considering the combined effect of various possible model uncertainties. Both simulation and experiment are conducted to validate the proposed technique, which confirms the satisfactory performance to track the desired acceleration of the multi-rotor. Note to Practitioners—This article presents a method for controlling the acceleration of a multi-rotor accurately under the presence of translational force disturbance. Unlike the existing methods, the new signal conversion technique that considers the dynamics of the multi-rotor in the process of converting the target translational acceleration signal to the target roll, pitch, and thrust signal enables a more accurate translational force control. The DOB structure applied to the translational force control system overcomes the acceleration control performance deterioration caused by external translational force disturbance. Through the combination of the two techniques, the acceleration of the multi-rotor can be accurately controlled not only in the nominal environment but also in the presence of translational force disturbance.

中文翻译：

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用于精确加速度跟踪的多旋翼无人机的鲁棒平移力控制


在本文中，我们介绍了一种具有基于扰动观测器 (DOB) 的力扰动消除的平移力控制方法，用于多旋翼无人机 (UAV) 的精确 3D 加速控制。多旋翼的加速度控制需要将期望的加速度信号转换为期望的横滚、俯仰和总推力。然而，由于姿态动力学和推力动力学不同，不考虑这些差异的简单运动信号转换可能会导致加速度跟踪的性能严重下降。与大多数基于这种简单反演的现有平移力控制技术不同，我们的新方法可以通过考虑运动学反演过程中多转子的动力学来更精确地控制多转子的加速度。通过将 DOB 与包含改进的转换技术的平移力系统相结合，我们实现了对阻碍精确加速度控制的外力干扰的鲁棒性。 $\mu $ -进行分析以确保整个闭环系统的鲁棒稳定性，考虑各种可能的模型不确定性的综合影响。通过仿真和实验来验证所提出的技术，证实了跟踪多旋翼所需加速度的令人满意的性能。从业者须知——本文提出了一种在存在平移力扰动的情况下精确控制多旋翼加速度的方法。 与现有方法不同，新的信号转换技术在将目标平移加速度信号转换为目标横滚、俯仰和推力信号的过程中考虑了多旋翼的动力学，从而能够实现更精确的平移力控制。 DOB结构应用于平移力控制系统，克服了外部平移力干扰引起的加速度控制性能恶化。通过两种技术的结合，不仅可以在标称环境下而且在存在平移力扰动的情况下精确控制多旋翼的加速度。