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CEAS EuroGNC 2022

Gaussian Progress Regression-based Disturbance Compensation Control for Urban Air Mobility
Dain Yoon Ph. D. Student, KAIST, Dept. of Aerospace Engineering, 34141, Daejeon, Republic of Korea.
Chang-Hun Lee Assistant Professor, KAIST, Dept. of Aerospace Engineering, 34141, Daejeon, Republic of Korea.
Min-Jea Tahk Emeritus Professor, KAIST, Dept. of Aerospace Engineering, 34141, Daejeon, Republic of Korea.
Abstract:
This paper deals with a nonlinear attitude controller considering the disturbance rejection for urban air mobility (UAM). Using the disturbance observer-based control (DOBC) methodology, the proposed controller is constructed with a two-stage design procedure. The baseline control is established first by employing the time-scale separation approximation assumption and the feedback linearization approach, and then the Gaussian process regression (GPR) is augmented. Given the computational burden, the GP model is learned offline with a fixed-size training dataset. The GPR works as an adaptive law like the nonlinear disturbance observer. However, GPR can flexibly model the disturbance because the GPR describes the disturbance as a distribution over the functions. Furthermore, the control allocation method for the over-actuated system is presented to distribute the control command efficiently. Consequently, the proposed controller is validated with the numerical simulation under the various disturbance conditions such as model parameter uncertainties.
Keywords: Urban Air Mobility(UAM); Disturbance Rejection Control; Gaussian Process Regression; Feedback Linearization
 View PDF CEAS-GNC-2022-004


Dain Yoon, Chang-Hun Lee, Min-Jea Tahk: Gaussian Progress Regression-based Disturbance Compensation Control for Urban Air Mobility. Proceedings of the 2022 CEAS EuroGNC conference. Berlin, Germany. May 2022. CEAS-GNC-2022-004.
BibTeX entry:

@Incollection{CEAS-GNC-2022-004,
    authors = {Yoon, Dain and Lee, Chang-Hun and Tahk, Min-Jea},
    title = {Gaussian Progress Regression-based Disturbance Compensation Control for Urban Air Mobility},
    booktitle = {Proceedings of the 2022 {CEAS EuroGNC} conference},
    address = {Berlin, Germany},
    month = may,
    year = {2022},
    note = {CEAS-GNC-2022-004}
}