Abstract
For saucer-shaped unmanned aerial vehicles with blended wing bodies (BWBs), un-modelled coupling effect uncertainty and external disturbance missing the matching conditions have always been the concerns. To solve this flight control problem, this research has proposed a composite backstepping controller incorporated with a finite-time convergent differentiator and a nonlinear extended state observer (ESO). More specifically, the differentiator is employed to obtain the derivatives of the virtual control laws in finite-time and therefore eliminate the inherent “explosion of term” problem in backstepping. By the effective real-time estimation of ESO without the peaking value problem, the total effect of internal uncertainties and external disturbances is compensated in the control law design, which can dispense with parameter identification and model approximation. Furthermore, based on Lyapunov theory, it is proved rigorously that all the signals of the resulting closed-loop systems are bounded. In the final part of this paper, simulation results are presented to validate the effectiveness of the proposed control scheme.
Highlights
In past decades, aircraft design has been changed radically in the aviation industry
According to the foregoing researches, a novel differentiator-based backstepping control scheme combined with a nonlinear extended state observer (ESO) for a saucer-shaped blended wing bodies (BWBs) unmanned aerial vehicle (UAV) subject to both matched and mismatched nonvanishing disturbances/uncertainties is proposed and carried out in this paper
The twin wings are designed as pelvic fins to reduce the induced drag proposed control scheme of the saucer-shaped BWB UAV fills in the gaps of related researches on aircrafts and to help maintain lateral stability, instead of providing lift
Summary
Aircraft design has been changed radically in the aviation industry. According to the foregoing researches, a novel differentiator-based backstepping control scheme combined with a nonlinear ESO for a saucer-shaped BWB UAV subject to both matched and mismatched nonvanishing disturbances/uncertainties is proposed and carried out in this paper. 2. To achieve the precise altitude controller design, a nonlinear ESO is proposed to estimate and compensate the total effect of parametric uncertainties, un-modelled dynamics and external disturbances in real time by viewing them as an extended state of the system. 1. The problem of “explosion of terms” is eliminated by employing a finite-time-convergent secondSection 5 will present the simulation results, which demonstrate the effectiveness of the proposed order differentiator, which can precisely filter the virtual control command and obtain their approach. ToDescription achieve the precise altitude controller design, a nonlinear ESO is proposed to estimate and
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