Disturbance Observation and Control of Operational Unmanned Aerial Vehicles

UAVs are used widely in all works and life, and their operation forms and application scenarios are more complex than ever before. In order to deal with various disturbances faced by operational UAVs in application scenarios and achieve stable control, a disturbance observation and compensation stru...

Full description

Saved in:
Bibliographic Details
Main Authors: Yao, Guanyu, Yang, Liying, Chang, Yanchun, He, Yuqing
Format: Conference Proceeding
Language:English
Subjects:
Attitude control
Autonomous aerial vehicles
disturbance observation and compensation
Kinematics
linear extended state observer
Manipulators
Mathematical models
Observers
operational UAV
sliding mode controller
Vehicle dynamics
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:UAVs are used widely in all works and life, and their operation forms and application scenarios are more complex than ever before. In order to deal with various disturbances faced by operational UAVs in application scenarios and achieve stable control, a disturbance observation and compensation structure combining linear extended state observer and sliding mode controller is proposed to achieve stable control of operational UAVs. Firstly, the typical operational UAV is taken as the research object, and the kinematics and dynamics models are established. Then, a linear extended state observer is designed to estimate the environment and body disturbances, and the sliding mode control method is combined to control the system. Finally, the effectiveness of the designed control method is verified through simulation.
ISSN:2771-7372
DOI:10.1109/ICUS58632.2023.10318223