The present paper describes the design of a nonlinear flight control method for a fixed-wing UAV using an extended state observer (ESO). The dynamics of a UAV contains uncertainties such as modeling error and actuator dynamics that deteriorate control performance. Moreover, wind disturbance seriously affects stability with respect to the dynamics of a small UAV. The ESO can estimate not only the state variables of a UAV but also disturbances, uncertainties, nonlinear dynamics, and observation error; i.e., it is possible to simultaneously cancel the effect of disturbances on the dynamic behavior of a UAV by adjusting the observer and controller gains. However, the ESO has been applied, in principle, to a single-input single-output system. We design the nonlinear flight control system using the ESO and active disturbance reject control, which is used to obtain a state equation without approximation. Actuator dynamics, which may deteriorate control performance, is also taken into account in the design of the control system.
Nonlinear flight control with an extended state observer for a fixed-wing UAV
2017-06-01
887447 byte
Conference paper
Electronic Resource
English
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