Accurate glide path tracking is vital to the automatic carrier landing task of unmanned aerial vehicle (UAV). The purpose of this paper is to develop a reliable flight controller that can simultaneously deal with external disturbance, structure fault and actuator fault.
The automatic carrier landing task is resolved into the glide path tracking problem and attitude tracking problem. The disturbance observer-based adaptive sliding mode control scheme is proposed for system stabilization, disturbance rejection and fault tolerance.
Both the Lyapunov method and exemplary simulations can prove that the disturbance estimation error and the attitude tracking error converge in finite time in the presence of external disturbances and various faults.
The presented algorithm is testified by a UAV automatic carrier landing simulation, which shows the potential of practical usage.
The barrier function is introduced to adaptively update both the sliding mode observer gain and sliding mode controller gain, so that the sliding mode surface could converge to a predefined region without overestimation. The proposed flight controller ensures a secure carrier landing task.
Automatic carrier landing for UAV based on integrated disturbance observer and fault-tolerant control
Aircraft Engineering and Aerospace Technology ; 95 , 8 ; 1247-1256
2023-07-21
10 pages
Article (Journal)
Electronic Resource
English
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