This article addresses an integral sliding mode control (ISMC) method for antiskid braking system (ABS) of unmanned aerial vehicles (UAV) based on extended state observer (ESO) to track the real-time optimal slip ratio. First, based on reasonable simplification, a comprehensive dynamic model of the UAV braking system is established. Then, an ESO is designed to guarantee the precise estimation of uncertainty disturbance during aircraft ground taxiing, an ABS controller is generated by combining ISMC and ESO. Finally, simulation is carried out under different working conditions, including representative road, step reduction of braking torque, road changed suddenly, and parameter high-low bias. The simulation results verify the effectiveness of the proposed slip ratio control strategy.
Integral Sliding Mode Control for Antiskid Braking System of Unmanned Aerial Vehicles Based on Extended State Observer
Lect. Notes Electrical Eng.
China Aeronautical Science and Technology Youth Science Forum ; 2022 ; Nanchang, China October 09, 2022 - October 10, 2022
Proceedings of the 10th Chinese Society of Aeronautics and Astronautics Youth Forum ; Chapter : 69 ; 777-786
2023-01-01
10 pages
Article/Chapter (Book)
Electronic Resource
English
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