TY - GEN
T1 - Flight control of convertible UAV based on extended-state-observer
AU - Fang, Xiaoxing
AU - Wang, Yingxun
AU - Lin, Qing
PY - 2011
Y1 - 2011
N2 - Focusing on the control system of convertible UAV, which is nonlinear, strongly coupled and uncertain due to its complexity in layout, structure and aerodynamic peculiarity, a kind of control method based on extended-state- observer (ESO) is proposed. First, the dynamic model inversion technique based on reference model tracking is applied to linearize the object and eliminate the coupled factors. Then, the unknown disturbances in the system including un-modeled dynamic performance and inversion error are estimated and compensated by ESO. ESO needs not any information about the object's mathematic model and has succinct structure, which is quite different from other adaptive control methods. The simulation results show that by this method, the anticipant movement and mode conversion of convertible UAV can be realized properly, and the system has strong robustness.
AB - Focusing on the control system of convertible UAV, which is nonlinear, strongly coupled and uncertain due to its complexity in layout, structure and aerodynamic peculiarity, a kind of control method based on extended-state- observer (ESO) is proposed. First, the dynamic model inversion technique based on reference model tracking is applied to linearize the object and eliminate the coupled factors. Then, the unknown disturbances in the system including un-modeled dynamic performance and inversion error are estimated and compensated by ESO. ESO needs not any information about the object's mathematic model and has succinct structure, which is quite different from other adaptive control methods. The simulation results show that by this method, the anticipant movement and mode conversion of convertible UAV can be realized properly, and the system has strong robustness.
KW - Dynamic inversion
KW - Extended-state-observer
KW - Flight control
KW - UAV
UR - https://www.scopus.com/pages/publications/80053281463
U2 - 10.1109/AIMSEC.2011.6010394
DO - 10.1109/AIMSEC.2011.6010394
M3 - 会议稿件
AN - SCOPUS:80053281463
SN - 9781457705366
T3 - 2011 2nd International Conference on Artificial Intelligence, Management Science and Electronic Commerce, AIMSEC 2011 - Proceedings
SP - 369
EP - 373
BT - 2011 2nd International Conference on Artificial Intelligence, Management Science and Electronic Commerce, AIMSEC 2011 - Proceedings
T2 - 2011 2nd International Conference on Artificial Intelligence, Management Science and Electronic Commerce, AIMSEC 2011
Y2 - 8 August 2011 through 10 August 2011
ER -