Awareness in guidance and control system design has increased strongly due to the enormous developments in Unmanned Aerial vehicles (UAVs) as well as their wide approaches for both civilian and military applications. Motivated by the UAVs' small size, low price, and lightweight attract the researchers in the field of guidance, navigation, and control towards autopilot design and analysis. This research focuses on designing a robust flight control system for small UAVs based on feedback linearization. The Dynamic Inversion (DI) and an Extended State Observer (ESO) are adopted to track sharp maneuvers in roll, pitch, and yaw channels. To estimate and adjust nonlinear dynamics and external disruptions (ESO) is used. The DI is a nonlinear control technique based on two-time scale assumptions, the inner fast loop states are roll, pitch, and yaw rates are automated by the physical fin deflection. On the other hand, the outer slow loop states are body attitude angles are controlled by the body angular rates. The leveraging power of the proposed flight control system has been approved by simulation results.
Design And Analysis Of A Nonlinear Flight Control Law Based On Extended State Observer
2022-07-26
384781 byte
Conference paper
Electronic Resource
English
Adaptive quaternion tracking with nonlinear extended state observer
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