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.


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    Title :

    Nonlinear flight control with an extended state observer for a fixed-wing UAV


    Contributors:


    Publication date :

    2017-06-01


    Size :

    887447 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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