基于非线性扰动观测器的无人机地面效应补偿

doi:10.13229/j.cnki.jdxbgxb20210155

Abstract

Abstract:

In this paper， a novel nonlinear control strategy based on the nonlinear disturbance observer is developed to compensate the unknown ground effects during the landing procedure. Owing to the intricacy of the ground effects， it is very hard to obtain the precise dynamic model for the UAV's landing procedure. To solve this issue， a nonlinear observer is designed to estimate the unknown disturbance introduced by the ground effects. Then the fast terminal sliding mode control method is combined with the disturbance observer to formulate a new nonlinear robust landing control strategy which is able to suppress the unknown ground effects and drive the quadrotor to its desired landing point accurately. The Lyapunov based stability analysis is employed to prove the stability of the closed loop system， and the finite-time convergence of the UAV's altitude control error together with the disturbance estimation errors are guaranteed. Real-time flight experimental results are presented to show the good landing control performance of the proposed control strategy.

Key words: unmanned aerial vehicle, landing control, disturbance observer, ground effects, finite-time convergence

CLC Number:

TP273

Bin XIAN,Jie-qi LI,Xun GU. Ground effects compensation for an unmanned aerial vehicle via nonlinear disturbance observer[J].Journal of Jilin University(Engineering and Technology Edition), 2022, 52(8): 1926-1933.

Figures/Tables 7

Table 1

Parameters of MATLAB Simulation"

变量名称	参数值	变量名称	参数值
$m$	$1$	$p 0$	5
$g$	9.8	$α 1$	5
$J x$	0.082	$ξ 1$	10
$J y$	0.0845	$μ 1$	5
$J z$	0.1377	$ν 1$	7
$k$	10	$α 2$	0.2
$β$	2	$ξ 2$	0.1
$ε$	50	$μ 2$	1
$q 0$	9	$ν 2$	3

Table 1

Fig.1

Table 2

Parameters of experiment"

变量名称	数值	变量名称	数值
$m$	$1.473$	$p 0$	3
$g$	9.8	$α 1$	3
$δ$	0.5	$ξ 1$	3
$ρ$	0.2	$μ 1$	3
$k s$	8	$ν 1$	5
$k$	10	$α 2$	4
$β$	20	$ξ 2$	6
$ε$	40	$μ 2$	3
$q 0$	7	$ν 2$	5

Table 2

Fig.2

Fig.3

Fig.4

Fig.5

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