TY - GEN
T1 - Integral Sliding Mode Control for Antiskid Braking System of Unmanned Aerial Vehicles Based on Extended State Observer
AU - Xie, Mingjun
AU - Jia, Yuhong
AU - Ding, Song
N1 - Publisher Copyright:
© 2023, Chinese Aeronautical Society.
PY - 2023
Y1 - 2023
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.
KW - Antiskid braking system
KW - Extended state observer
KW - Integral sliding mode control
KW - Slip ratio
UR - https://www.scopus.com/pages/publications/85148043398
U2 - 10.1007/978-981-19-7652-0_69
DO - 10.1007/978-981-19-7652-0_69
M3 - 会议稿件
AN - SCOPUS:85148043398
SN - 9789811976513
T3 - Lecture Notes in Electrical Engineering
SP - 777
EP - 786
BT - Proceedings of the 10th Chinese Society of Aeronautics and Astronautics Youth Forum
PB - Springer Science and Business Media Deutschland GmbH
T2 - 10th Chinese Society of Aeronautics and Astronautics Youth Forum, 2022
Y2 - 9 October 2022 through 10 October 2022
ER -