Integral Sliding Mode Control for Antiskid Braking System of Unmanned Aerial Vehicles Based on Extended State Observer

Mingjun Xie; Yuhong Jia; Song Ding

doi:10.1007/978-981-19-7652-0_69

Integral Sliding Mode Control for Antiskid Braking System of Unmanned Aerial Vehicles Based on Extended State Observer

Mingjun Xie
, Yuhong Jia^*
, Song Ding

^*Corresponding author for this work

School of Aeronautic Science and Engineering

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This article addresses an integral sliding mode control (ISMC) method for antiskid braking system (ABS) of unmanned aerial vehicles (UAV) based on extended state observer (ESO) to track the real-time optimal slip ratio. First, based on reasonable simplification, a comprehensive dynamic model of the UAV braking system is established. Then, an ESO is designed to guarantee the precise estimation of uncertainty disturbance during aircraft ground taxiing, an ABS controller is generated by combining ISMC and ESO. Finally, simulation is carried out under different working conditions, including representative road, step reduction of braking torque, road changed suddenly, and parameter high-low bias. The simulation results verify the effectiveness of the proposed slip ratio control strategy.

Original language	English
Title of host publication	Proceedings of the 10th Chinese Society of Aeronautics and Astronautics Youth Forum
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	777-786
Number of pages	10
ISBN (Print)	9789811976513
DOIs	https://doi.org/10.1007/978-981-19-7652-0_69
State	Published - 2023
Event	10th Chinese Society of Aeronautics and Astronautics Youth Forum, 2022 - Nanchang, China Duration: 9 Oct 2022 → 10 Oct 2022

Publication series

Name	Lecture Notes in Electrical Engineering
Volume	972 LNEE
ISSN (Print)	1876-1100
ISSN (Electronic)	1876-1119

Conference

Conference	10th Chinese Society of Aeronautics and Astronautics Youth Forum, 2022
Country/Territory	China
City	Nanchang
Period	9/10/22 → 10/10/22

Keywords

Antiskid braking system
Extended state observer
Integral sliding mode control
Slip ratio

Access to Document

10.1007/978-981-19-7652-0_69

Cite this

Xie, M., Jia, Y., & Ding, S. (2023). Integral Sliding Mode Control for Antiskid Braking System of Unmanned Aerial Vehicles Based on Extended State Observer. In Proceedings of the 10th Chinese Society of Aeronautics and Astronautics Youth Forum (pp. 777-786). (Lecture Notes in Electrical Engineering; Vol. 972 LNEE). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-19-7652-0_69

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title = "Integral Sliding Mode Control for Antiskid Braking System of Unmanned Aerial Vehicles Based on Extended State Observer",

abstract = "This article addresses an integral sliding mode control (ISMC) method for antiskid braking system (ABS) of unmanned aerial vehicles (UAV) based on extended state observer (ESO) to track the real-time optimal slip ratio. First, based on reasonable simplification, a comprehensive dynamic model of the UAV braking system is established. Then, an ESO is designed to guarantee the precise estimation of uncertainty disturbance during aircraft ground taxiing, an ABS controller is generated by combining ISMC and ESO. Finally, simulation is carried out under different working conditions, including representative road, step reduction of braking torque, road changed suddenly, and parameter high-low bias. The simulation results verify the effectiveness of the proposed slip ratio control strategy.",

keywords = "Antiskid braking system, Extended state observer, Integral sliding mode control, Slip ratio",

author = "Mingjun Xie and Yuhong Jia and Song Ding",

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Xie, M, Jia, Y & Ding, S 2023, Integral Sliding Mode Control for Antiskid Braking System of Unmanned Aerial Vehicles Based on Extended State Observer. in Proceedings of the 10th Chinese Society of Aeronautics and Astronautics Youth Forum. Lecture Notes in Electrical Engineering, vol. 972 LNEE, Springer Science and Business Media Deutschland GmbH, pp. 777-786, 10th Chinese Society of Aeronautics and Astronautics Youth Forum, 2022, Nanchang, China, 9/10/22. https://doi.org/10.1007/978-981-19-7652-0_69

Integral Sliding Mode Control for Antiskid Braking System of Unmanned Aerial Vehicles Based on Extended State Observer. / Xie, Mingjun; Jia, Yuhong; Ding, Song.
Proceedings of the 10th Chinese Society of Aeronautics and Astronautics Youth Forum. Springer Science and Business Media Deutschland GmbH, 2023. p. 777-786 (Lecture Notes in Electrical Engineering; Vol. 972 LNEE).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - This article addresses an integral sliding mode control (ISMC) method for antiskid braking system (ABS) of unmanned aerial vehicles (UAV) based on extended state observer (ESO) to track the real-time optimal slip ratio. First, based on reasonable simplification, a comprehensive dynamic model of the UAV braking system is established. Then, an ESO is designed to guarantee the precise estimation of uncertainty disturbance during aircraft ground taxiing, an ABS controller is generated by combining ISMC and ESO. Finally, simulation is carried out under different working conditions, including representative road, step reduction of braking torque, road changed suddenly, and parameter high-low bias. The simulation results verify the effectiveness of the proposed slip ratio control strategy.

AB - This article addresses an integral sliding mode control (ISMC) method for antiskid braking system (ABS) of unmanned aerial vehicles (UAV) based on extended state observer (ESO) to track the real-time optimal slip ratio. First, based on reasonable simplification, a comprehensive dynamic model of the UAV braking system is established. Then, an ESO is designed to guarantee the precise estimation of uncertainty disturbance during aircraft ground taxiing, an ABS controller is generated by combining ISMC and ESO. Finally, simulation is carried out under different working conditions, including representative road, step reduction of braking torque, road changed suddenly, and parameter high-low bias. The simulation results verify the effectiveness of the proposed slip ratio control strategy.

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KW - Slip ratio

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Xie M, Jia Y, Ding S. Integral Sliding Mode Control for Antiskid Braking System of Unmanned Aerial Vehicles Based on Extended State Observer. In Proceedings of the 10th Chinese Society of Aeronautics and Astronautics Youth Forum. Springer Science and Business Media Deutschland GmbH. 2023. p. 777-786. (Lecture Notes in Electrical Engineering). doi: 10.1007/978-981-19-7652-0_69

Integral Sliding Mode Control for Antiskid Braking System of Unmanned Aerial Vehicles Based on Extended State Observer

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Keywords

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