TY - JOUR
T1 - Attitude control of flying wing UAV based on terminal sliding mode and control allocation
AU - Tan, Jian
AU - Zhou, Zhou
AU - Zhu, Xiaoping
AU - Xu, Mingxing
PY - 2014/8/1
Y1 - 2014/8/1
N2 - To control the attitude of a flying wing unmanned aerial vehicle (UAV) in its disturbance wind field, it is necessary to take into account its model parameter uncertainty and external disturbance and to solve the redundancy, strong additional force effect, multi-axis coupling control and nonlinear control efficient of a control surface. We study its attitude tracking with the terminal sliding mode base on the extended state observer and with the multiobjective nonlinear control allocation. Based on the nominal sliding mode control law, we estimate and compensate for the disturbance with extended state observer, thus effectively enhancing the robustness and control precision of flying wing UAV. The attitude control system can make full use of the redundant control surface to realize the integrated tradeoff control allocation of multiple targets under various flight conditions and missions.
AB - To control the attitude of a flying wing unmanned aerial vehicle (UAV) in its disturbance wind field, it is necessary to take into account its model parameter uncertainty and external disturbance and to solve the redundancy, strong additional force effect, multi-axis coupling control and nonlinear control efficient of a control surface. We study its attitude tracking with the terminal sliding mode base on the extended state observer and with the multiobjective nonlinear control allocation. Based on the nominal sliding mode control law, we estimate and compensate for the disturbance with extended state observer, thus effectively enhancing the robustness and control precision of flying wing UAV. The attitude control system can make full use of the redundant control surface to realize the integrated tradeoff control allocation of multiple targets under various flight conditions and missions.
KW - Attitude control
KW - Control surfaces
KW - Disturbance wind field
KW - Estimation
KW - Extended state observer
KW - Flying wing UAV
KW - Lyapunov functions
KW - Multiobjective nonlinear control allocation
KW - Nonlinear control systems
KW - Redundancy
KW - Robustness(control systems)
KW - Sliding mode control
KW - Terminal sliding mode
KW - Unmanned aerial vehicles(UAV)
KW - Wings
UR - http://www.scopus.com/inward/record.url?scp=84907532546&partnerID=8YFLogxK
M3 - 文章
AN - SCOPUS:84907532546
SN - 1000-2758
VL - 32
SP - 505
EP - 510
JO - Xibei Gongye Daxue Xuebao/Journal of Northwestern Polytechnical University
JF - Xibei Gongye Daxue Xuebao/Journal of Northwestern Polytechnical University
IS - 4
ER -