Active disturbance rejection back-stepping control of fixed-wing unmanned aerial vehicle

被引：4
|
作者：
Fei A.-L. [1 ]
Li N. [1 ]
Li S.-Y. [1 ]
机构：
[1] School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai
来源：
Li, Ning (ning_li@sjtu.edu.cn) | 1600年 / South China University of Technology卷 / 33期
基金：
中国国家自然科学基金;
关键词：
Attitude control; Back-stepping control; Extended state observer(ESO); Fixed-wing unmanned aerial vehicle (UAV); Quaternion; Velocity control;
D O I：
10.7641/CTA.2016.51006
中图分类号：
学科分类号：
摘要：
In this paper, attitude and velocity control problem of fixed-wing unmanned aerial vehicle (UAV) are investigated. In order to deal with model uncertainties and external disturbances, extended state observer (ESO) based on back-stepping controllers are designed to depress system disturbances so that system performance could be improved. Firstly, the velocity error model and attitude error model of fixed-wing UAV are established. Among that process quaternion is adopted to be attitude error model variables to avoid singularity and complex trigonometric operation when describing UAV attitude with euler angle. Then extended state observers are designed to estimate system disturbance. The estimated values are included in controller design procedure to depress system disturbances and ensure that attitude and velocity of fixed-wing UAV converge to the desired value. Lastly, system stability is proven through Lyapunov theory. The simulation results demonstrate that proposed method is capable to depress system disturbance. © 2016, Editorial Department of Control Theory & Applications South China University of Technology. All right reserved.
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页码：1296 / 1302
页数：6
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