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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精确跟踪的多旋翼无人机的鲁棒平移力控制

在本文中，我们介绍了一种基于干扰观测器（DOB）的力干扰消除的平移力控制方法，用于精确控制多旋翼无人机（UAV）的3-D加速度。多转子的加速度控制需要将所需的加速度信号转换为所需的侧倾，俯仰和总推力。但是，由于姿态动力学和推力动力学不同，因此，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中的严重性能下降。与大多数现有的基于这种简单反转的平移力控制技术不同，我们的新方法允许通过考虑运动反转过程中多转子的动力学来更精确地控制多转子的加速度。 $ \亩$ 考虑到各种可能的模型不确定性的综合影响，进行了分析以确保整个闭环系统的鲁棒稳定性。进行了仿真和实验，以验证所提出的技术，该技术证实了跟踪多转子所需加速度的令人满意的性能。执业者注意 —本文提出了一种在存在平移力干扰的情况下精确控制多转子加速度的方法。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侧倾，俯仰和推力信号的过程中考虑了多转子的动力学特性，从而可以实现更精确的平移力控制。应用于平移力控制系统的DOB结构克服了由外部平移力扰动引起的加速控制性能下降的问题。通过两种技术的结合，不仅可以在名义环境下而且在存在平移力干扰的情况下，也可以精确地控制多转子的加速度。