Extended observer based on adaptive second order sliding mode control for a fixed wing UAV.
This paper addresses the design of attitude and airspeed controllers for a fixed wing unmanned aerial vehicle. An adaptive second order sliding mode control is proposed for improving performance under different operating conditions and is robust in presence of external disturbances. Moreover, this control does not require the knowledge of disturbance bounds and avoids overestimation of the control gains. Furthermore, in order to implement this controller, an extended observer is designed to estimate unmeasurable states as well as external disturbances. Additionally, sufficient conditions are given to guarantee the closed-loop stability of the observer based control. Finally, using a full 6 degree of freedom model, simulation results are obtained where the performance of the proposed method is compared against active disturbance rejection based on sliding mode control.
Center for Robotics and Intelligent Systems, Tecnologico de Monterrey, Monterrey 64849, Mexico. Electronic address: hermancc08@gmail.com.
Herman
H
Castañeda
Faculty of Mechanical and Electrical Engineering, Universidad Autńoma de Nuevo León. Av. Universidad s/n, Cd. Universitaria, C.P. 66455, San Niclas de los Garza, N.L., Mexico. Electronic address: salvador.sp@gmail.com.
Oscar S
OS
Salas-Peña
Faculty of Mechanical and Electrical Engineering, Universidad Autńoma de Nuevo León. Av. Universidad s/n, Cd. Universitaria, C.P. 66455, San Niclas de los Garza, N.L., Mexico. Electronic address: drjleon@gmail.com.
Jesús de
J
León-Morales
Adaptive control; Extended observer; Fixed wing UAV; Flight control; UAVs