Backstepping L2 gain robust control of longitudinal landing of flying-wing UAV

Jian Tan; Zhou Zhou; Xiaoping Zhu; Xiaoping Xu

doi:10.11918/j.issn.0367-6234.2016.04.015

Backstepping L₂ gain robust control of longitudinal landing of flying-wing UAV

Jian Tan, Zhou Zhou, Xiaoping Zhu, Xiaoping Xu

School of Aeronautics

Northwestern Polytechnical University Xian

Research output: Contribution to journal › Article › peer-review

4 Scopus citations

Abstract

For the longitudinal landing control problem of flying-wing UAV with unknown external disturbances, a backstepping L₂ gain robust control scheme based on super twisting sliding mode disturbance observer and tracking differentiator is proposed. The tracking differentiator is introduced to calculate the derivative of virtual control law which is very difficult to evaluate with the traditional backstepping control. Super twisting sliding mode disturbance observer and L₂ gain robust item are designed to increase the robustness of the control system. Simulation results show: the altitude and airspeed of UAV are tracked on control command, vertical ground speed is within the allowable range. Compared with traditional PID control scheme, the proposed control scheme has better automatical landing control performance.

Original language	English
Pages (from-to)	91-96
Number of pages	6
Journal	Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology
Volume	48
Issue number	4
DOIs	https://doi.org/10.11918/j.issn.0367-6234.2016.04.015
State	Published - 28 Apr 2016

Keywords

Backstepping control
Disturbance observer
Flying-wing UAV
L gain
Longitudinal landing
Super twisting algorithm
Tracking differentiator

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10.11918/j.issn.0367-6234.2016.04.015

Cite this

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title = "Backstepping L2 gain robust control of longitudinal landing of flying-wing UAV",

abstract = "For the longitudinal landing control problem of flying-wing UAV with unknown external disturbances, a backstepping L2 gain robust control scheme based on super twisting sliding mode disturbance observer and tracking differentiator is proposed. The tracking differentiator is introduced to calculate the derivative of virtual control law which is very difficult to evaluate with the traditional backstepping control. Super twisting sliding mode disturbance observer and L2 gain robust item are designed to increase the robustness of the control system. Simulation results show: the altitude and airspeed of UAV are tracked on control command, vertical ground speed is within the allowable range. Compared with traditional PID control scheme, the proposed control scheme has better automatical landing control performance.",

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T1 - Backstepping L2 gain robust control of longitudinal landing of flying-wing UAV

AU - Tan, Jian

AU - Zhou, Zhou

AU - Zhu, Xiaoping

AU - Xu, Xiaoping

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AB - For the longitudinal landing control problem of flying-wing UAV with unknown external disturbances, a backstepping L2 gain robust control scheme based on super twisting sliding mode disturbance observer and tracking differentiator is proposed. The tracking differentiator is introduced to calculate the derivative of virtual control law which is very difficult to evaluate with the traditional backstepping control. Super twisting sliding mode disturbance observer and L2 gain robust item are designed to increase the robustness of the control system. Simulation results show: the altitude and airspeed of UAV are tracked on control command, vertical ground speed is within the allowable range. Compared with traditional PID control scheme, the proposed control scheme has better automatical landing control performance.

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KW - Disturbance observer

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Backstepping L₂ gain robust control of longitudinal landing of flying-wing UAV

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