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Title: Actuator dynamics augmented DOBC for a small fixed wing UAV
Authors: Smith, Jean
Yang, Jun
Liu, Cunjia
Chen, Wen-Hua
Keywords: Actuator dynamics
Disturbance rejection
Disturbance-observer-based control
Unmanned aerial vehicles
Issue Date: 2018
Publisher: © IEEE
Citation: 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.
Abstract: This 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.
Description: © 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.
Sponsor: 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.
Version: Accepted for publication
DOI: 10.1109/ICIT.2018.8352149
URI: https://dspace.lboro.ac.uk/2134/28298
Publisher Link: https://doi.org/10.1109/ICIT.2018.8352149
Appears in Collections:Conference Papers and Presentations (Aeronautical and Automotive Engineering)

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