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Actuator dynamics augmented DOBC for a small fixed wing UAV
conference contribution
posted on 2018-01-26, 15:23 authored by Jean Smith, Jun Yang, Cunjia LiuCunjia Liu, Wen-Hua ChenWen-Hua ChenThis paper presents an actuator dynamics augmentation of the classical Disturbance Observer Based Control (DOBC) approach for control of a small fixed wing Unmanned Aerial Vehcile (UAV). The proposed method modifies the observer to include actuator dynamics. This augmentation allows for significantly higher observer gains in practice than traditional DOBC in the presence of actuator dynamics, resulting in better disturbance rejection performance. The actuator states are unmeasurable, so are also estimated by the proposed observer using an actuator model and the aircraft state. The actuator modelling process of the UAV is provided in detail. The closed-loop stability as well as observer tuning guidelines are discussed. The performance improvement is demonstrated first in numerical simulation and validated with flight test results using a small UAV.
Funding
This work is supported in part by the UK Engineering and Physical Science Research Council (EPSRC) under the Grants EP/P012868/1 & EP/R005494/1.
History
School
- Aeronautical, Automotive, Chemical and Materials Engineering
Department
- Aeronautical and Automotive Engineering
Published in
IEEE International Conference on Industrial TechnologyCitation
SMITH, J. ... et al, 2018. Actuator dynamics augmented DOBC for a small fixed wing UAV. IN: Proceedings of the 2018 IEEE International Conference on Industrial Technology (ICIT), Lyon, France, 20th-22nd February 2018, pp.40-45.Publisher
© IEEEVersion
- AM (Accepted Manuscript)
Acceptance date
2018-01-11Publication date
2018Notes
© 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.Publisher version
Language
- en