Backstepping L2 gain robust control of longitudinal landing of flying-wing UAV

被引：0
|
作者：
Tan J. [1 ]
Zhou Z. [1 ]
Zhu X. [2 ]
Xu X. [1 ]
机构：
[1] National Key Laboratory of UAV Special Technology (Northwestern Polytechnical University), Xi'an
[2] UAV Research Institute, Northwestern Polytechnical University, Xi'an
来源：
Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology | 2016年 / 48卷 / 04期
关键词：
Backstepping control; Disturbance observer; Flying-wing UAV; L[!sub]2[!/sub] gain; Longitudinal landing; Super twisting algorithm; Tracking differentiator;
D O I：
10.11918/j.issn.0367-6234.2016.04.015
中图分类号：
学科分类号：
摘要：
For the longitudinal landing control problem of flying-wing UAV with unknown external disturbances, a backstepping L2 gain robust control scheme based on super twisting sliding mode disturbance observer and tracking differentiator is proposed. The tracking differentiator is introduced to calculate the derivative of virtual control law which is very difficult to evaluate with the traditional backstepping control. Super twisting sliding mode disturbance observer and L2 gain robust item are designed to increase the robustness of the control system. Simulation results show: the altitude and airspeed of UAV are tracked on control command, vertical ground speed is within the allowable range. Compared with traditional PID control scheme, the proposed control scheme has better automatical landing control performance. © 2016, Harbin Institute of Technology. All right reserved.
引用
收藏
页码：91 / 96
页数：5
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