Variable structure attitude control for a rolling aerial vehicle via extended state observer

Chen, Qi and Yan, Xinggang and Wang, Zhongyuan and Mu, Jianqiu (2016) Variable structure attitude control for a rolling aerial vehicle via extended state observer. In: Variable Structure Systems (VSS), 2016 14th International Workshop on. Variable Structure Systems (VSS), 2016 14th International Workshop on. E-ISBN 21583986. (doi:https://doi.org/10.1109/VSS.2016.7506948) (Full text available)

Abstract

A novel attitude control scheme is proposed for a rolling aerial vehicle (RAV) with large uncertainties. Firstly, the RAV highly coupled nonlinear system is separated into attitude loop and angular loop via backstepping technique. The nominal states are calculated based on the procedure of trajectory linearization control (TLC). Then, extended state observers (ESO) are applied to estimate the uncertainties in the RAV system. Meanwhile, a feedback linearization-based controller is synthesized for the attitude loop using the estimated uncertainties, and an ESO-based sliding mode controller is synthesized for the angular rate loop. The stability of the closed-loop system is studied. Simulation results with comparisons are presented to demonstrate the feasibility of the proposed control scheme.

Item Type: Conference or workshop item (Paper)
Subjects: T Technology
Divisions: Faculties > Sciences > School of Engineering and Digital Arts
Faculties > Sciences > School of Engineering and Digital Arts > Instrumentation, Control and Embedded Systems
Depositing User: Xinggang Yan
Date Deposited: 27 Sep 2016 09:54 UTC
Last Modified: 09 Nov 2016 11:37 UTC
Resource URI: https://kar.kent.ac.uk/id/eprint/57532 (The current URI for this page, for reference purposes)
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