Actuator Dynamics Augmented DOBC for A Small Fixed Wing UAV
Actuator Dynamics Augmented DOBC for A Small Fixed Wing UAV
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发表时间：
2018
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通讯作者：
Jean Smith;Jun Yang;Wen‐Hua Chen;J. Yang;C. Liu
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作者：
Jean Smith;Jun Yang;Wen‐Hua Chen;J. Yang;C. Liu
针对小型固定翼无人机（UAV）的控制问题，提出了一种基于扰动观测器控制（DOBC）方法的执行器动力学增强方法。所提出的方法修改观测器，包括执行器动态。这种增强允许在实际中比传统DOBC在存在致动器动态时显著更高的观测器增益，从而导致更好的干扰抑制性能。执行器状态是不可测的，所以也估计所提出的观测器使用执行器模型和飞机状态。详细介绍了无人机作动器的建模过程。讨论了闭环稳定性和观测器整定准则.性能的改善首先在数值模拟中得到证明，并使用小型无人机进行了验证。
—This paper presents an actuator dynamics aug- mentation of the classical Disturbance Observer Based Control (DOBC) approach for control of a small fixed wing Unmanned Aerial Vehcile (UAV). The proposed method modifies the observer to include actuator dynamics. This augmentation allows for significantly higher observer gains in practice than traditional DOBC in the presence of actuator dynamics, resulting in bet- ter disturbance rejection performance. The actuator states are unmeasurable, so are also estimated by the proposed observer using an actuator model and the aircraft state. The actuator modelling process of the UAV is provided in detail. The closed- loop stability as well as observer tuning guidelines are discussed. The performance improvement is demonstrated first in numerical simulation and validated with flight test results using a small UAV.