Kikkawa, Hirotaka (Nihon university), Uchiyama, Kenji (Nihon University)

Nonlinear Flight Control with an Extended State Observer for a Fixed-Wing UAV

Scheduled for presentation during the "UAS Control - II" (FrB5), Friday, June 16, 2017, 14:05−14:25, San Marco Island

2017 International Conference on Unmanned Aircraft Systems, June 13-16, 2017, Miami Marriott Biscayne Bay, Miami, FL,

This information is tentative and subject to change. Compiled on April 16, 2024

Abstract

The present paper describes the design of a nonlinear flight control method for a fixed-wing UAV using an extended state observer (ESO). The dynamics of a UAV contains uncertainties such as modeling error and actuator dynamics that deteriorate control performance. Moreover, wind disturbance seriously affects stability with respect to the dynamics of a small UAV. The ESO can estimate not only the state variables of a UAV but also disturbances, uncertainties, nonlinear dynamics, and observation error; i.e., it is possible to simultaneously cancel the effect of disturbances on the dynamic behavior of a UAV by adjusting the observer and controller gains. However, the ESO has been applied, in principle, to a single-input single-output system. We design the nonlinear flight control system using the ESO and active disturbance reject control, which is used to obtain a state equation without approximation. Actuator dynamics, which may deteriorate control performance, is also taken into account in the design of the control system.