The nonlinear disturbance observer-based control for small rotary-wing unmanned aircraft

As a complex system, control performance of small rotary-wing unmanned aircraft is easily affected by measurement errors and environment disturbances. This paper proposes a nonlinear disturbance observer-based control to improve control performance. The constant and harmonic disturbance that is generated by the exogenous system with modeling perturbation can be estimated and rejected effectively. The random disturbance with certain bound can be reduced by the feedback control. By solving linear matrix inequality, the parameters for feedback control and nonlinear disturbance observer can be selected simultaneously. Therefore, the system stability can be guaranteed and the control performance can be improved effectively. The effectiveness of the nonlinear disturbance observer-based control is proved by a series of flight tests. Compared with feedback control, the disturbance observer-based control yields a better tracking performance in the presence of disturbances.

• Record URL:
  • https://doi.org/10.1177/0954410013513414
• Record URL:
  • http://pig.sagepub.com/cgi/content/abstract/228/12/2168
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/oclc/19966973
• Supplemental Notes:
  • Reprinted by permission of Sage Publications, Ltd.
• Authors:
  • Lei, Xusheng
  • Lu, Pei
  • Liu, Fang
• Publication Date: 2014-10

Language

• English

Media Info

• Media Type: Digital/other
• Features: Appendices; Figures; Photos; References; Tables;
• Pagination: pp 2168-2177
• Serial:
  • Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering
  • Volume: 228
  • Issue Number: 12
  • Publisher: Sage Publications, Incorporated
  • ISSN: 0954-4100
  • EISSN: 2041-3025
  • Serial URL: http://pig.sagepub.com/

Subject/Index Terms

• TRT Terms: Drones; Feedback control; Rotary wing aircraft
• Uncontrolled Terms: Nonlinear observers
• Subject Areas: Aviation; Vehicles and Equipment; I91: Vehicle Design and Safety;

Filing Info

• Accession Number: 01542731
• Record Type: Publication
• Files: TRIS
• Created Date: Oct 29 2014 11:38AM