Abstract
This paper proposes a backstepping fuzzy sliding mode control method for the antiskid braking system (ABS) of unmanned aerial vehicles (UAVs). First, the longitudinal dynamic model of the UAV braking system is established and combined with the model of the electromechanical actuator (EMA), based on reasonable simplification. Subsequently, to overcome the higher-order nonlinearity of the braking system and ensure the lateral stability of the UAV during the braking process, an ABS controller is designed using the barrier Lyapunov function to ensure that the slip ratio can track the reference value without exceeding the preset range. Then, a power fast terminal sliding mode control algorithm is adopted to realize high-performance braking pressure control, which is required in the ABS controller, and a fuzzy corrector is established to improve the dynamic adaptation of the EMA controller in different braking pressure ranges. The experimental results show that the proposed braking pressure control strategy can improve the servo performance of the EMA, and the hardware in loop (HIL) experimental results indicate that the proposed slip ratio control strategy demonstrates a satisfactory performance in terms of stability under various runway conditions.
Highlights
With the development of unmanned aerial vehicle (UAV) technology, the safe recycling of unmanned aerial vehicles (UAVs) has been drawing increasing research attention
Most of the aircraft braking systems use a hydraulic system as the power source, for which long hydraulic lines are required, and this means the hydraulic braking system has a considerable influence on the structure of the UAV [4,5,6]
When using the antiskid braking system (ABS) controller proposed in this paper, as the barrier Lyapunov function (BLF) selected in the antiskid control law has good constraint effects of the slip ratio, the UAV braking system will still have good control stability under the icy runway conditions
Summary
With the development of unmanned aerial vehicle (UAV) technology, the safe recycling of UAVs has been drawing increasing research attention. It is necessary to select an appropriate slip ratio control algorithm in the ABS controller, as there is high order nonlinearity in the braking system of aircrafts. The EMA is a complex nonlinear system, and the large fluctuations in temperature during the braking process can considerably change the parameters of the BLDCM These characteristics make it difficult to achieve a fast response and high precision when using a traditional linear controller. With the objective of improving the system response speed, Wu et al, in [25], proposed a nonlinear sliding mode surface with terminal characteristics, but there are few studies about the EMA controller in electric braking systems. Compared with the routine control strategies, the proposed ABS controller can constrain the slip ratio and maintain the working point around the optimal value, and the EMA controller has a better braking pressure control effect.
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