APCS Design of Carrier-Based UAV Based on Finite-Time Wind Disturbance Observer

Zhang, Dafa; Chai, Dingyu; Ma, Pengbao; Wang, Meng; Jin, Xu; Gao, Xuegang; Zhu, Qian

doi:10.1109/aiea51086.2020.00072

Cited by 1 publication

(1 citation statement)

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“…However, for small UAVs, where the effect of wind disturbance is large, wind estimation has proved to be a more reasonable and effective strategy compared to robust control methods. In response to this scenario, a number of researches [10]- [14] have been conducted to estimate wind disturbance in the flight control of small UAVs. Since PPG flight is particularly affected by wind, it is desirable to actively estimate the wind disturbance and use it for flight control.…”

Section: Introductionmentioning

confidence: 99%

Guaranteed Cost-Based Disturbance Observer and Controller Design for Path Tracking Control of a Powered Paraglider Under Unknown Rudder Trim and Wind Disturbances

Takahashi,

Yamamoto,

Wong

et al. 2024

IEEE Access

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This paper presents a guaranteed-cost disturbance observer and controller design to achieve accurate path tracking control for a powered paraglider (PPG) in the presence of unknown rudder trim and wind disturbances. The key contribution of this paper is a theoretical approach that ensures given flight control performance even in the presence of these unknown variables. Due to the complex and highly nonlinear nature of PPG dynamics, our approach utilizes a nonlinear control framework based on Takagi-Sugeno fuzzy models. Although this paper designs a nonlinear controller that compensates the rudder input not only with the trim but also with the wind estimated by the disturbance observer, it successfully derives guaranteed-cost design conditions that allow the separate design of the disturbance observer and the nonlinear controller within this framework. In addition, the influence of observer estimation errors on control performance degradation is discussed in terms of considering the upper bound of given control performance. The effectiveness of the proposed approach is demonstrated through extensive flight simulations using a high-precision PPG simulator, which accurately models the real-world flight dynamics of two rigid bodies with seven degrees of freedom. This validates the practical utility of the guaranteed-cost disturbance observer and controller design in maintaining control performance under unknown rudder trim and wind disturbances.INDEX TERMS Disturbance observer, guaranteed cost control, path tracking control, Takagi-Sugeno fuzzy model, powered paraglider, rudder trim, wind disturbances.

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Section: Introductionmentioning

confidence: 99%