Abstract

This paper presents an actuator dynamics augmented Disturbance Observer Based Control (DOBC) approach for the lateral control of a small fixed wing Unmanned Aerial Vehcile (UAV). Different from most of existing DOBC approaches applied to UAV control, the observer is augmented to estimate actuator states as well as disturbances. The new idea on observer design results in better control performance as compared with the traditional DOBC approach. 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 Skywalker X8.

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