Signal corrector and decoupling estimations for UAV control

Wang, Xinhua

doi:10.1017/aer.2022.86

Cited by 2 publications

(1 citation statement)

References 25 publications

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“…In addition, for EKF, system model linearisation may cause filtering divergence, and the derivation of the Jacobian matrices are nontrivial. A finite-time-convergent signal corrector was designed for position correction in a quadrotor UAV control system [22]. The signal corrector is complex, and the finite-time convergence cannot be implemented in engineering practice.…”

Section: Wangmentioning

confidence: 99%

Sliding mode corrector for jet UAV control

Wang

2023

Aeronaut. j.

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A sliding mode corrector is presented for disturbance rejection in position sensing using relatively accurate velocity measurement. The corrector design is based on a robust second-order sliding mode (2-sliding mode), which makes the fusion of position and velocity on a sliding surface to reject disturbance. Even when the frequency bands of disturbance and actual position signal overlap, or large-magnitude disturbance exists, the corrector can still provide the accurate and smoothed estimate of position. The proposed corrector is applied to a jet UAV navigation and control. In the unmanned aerial vehicle (UAV) system, the disturbances exist in position and attitude measurements, and the uncertainties exist in the system dynamics. For the UAV trajectory tracking control, the system model is constructed in the earth-fixed frame, and the constructed model is fit for observer design to estimate system uncertainties. The control laws are designed according to the correction of position and attitude by the correctors and the estimation of system uncertainties by an existing observer. Finally, the flight experiment demonstrates the effectiveness of the proposed method.

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Section: Wangmentioning

confidence: 99%

Sliding mode corrector for jet UAV control

Wang

2023

Aeronaut. j.

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Non-overshooting sliding mode for UAV control

Wang,

Mao

2024

Aeronaut. j.

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For a class of uncertain systems, a non-overshooting sliding mode control is presented to make them globally exponentially stable and without overshoot. Even when the unknown stochastic disturbance exists, and the time-variant reference trajectory is required, the strict non-overshooting stabilisation is still achieved. The control law design is based on a desired second-order sliding mode (2-sliding mode), which successively includes two bounded-gain subsystems. Non-overshooting stability requires that the system gains depend on the initial values of system variables. In order to obtain the global non-overshooting stability, the first subsystem with non-overshooting reachability compresses the initial values of the second subsystem to a given bounded range. By partitioning these initial values, the bounded system gains are determined to satisfy the robust non-overshooting stability. In order to reject the chattering in the controller output, a tanh-function-based sliding mode is developed for the design of smoothed non-overshooting controller. The proposed method is applied to a UAV trajectory tracking when the disturbances and uncertainties exist. The control laws are designed to implement the non-overshooting stabilisation in position and attitude. Finally, the effectiveness of the proposed method is demonstrated by the flying tests.

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Signal corrector and decoupling estimations for UAV control

Cited by 2 publications

References 25 publications

Sliding mode corrector for jet UAV control

Sliding mode corrector for jet UAV control

Non-overshooting sliding mode for UAV control

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