Xu, Yiwei (Nanjing University of Aeronautics and Astronautics), Yu, Ziquan (Nanjing University of Aeronautics and Astronautics), Chen, Fuyang (Nanjing University of Aeronautics and Astronautics), Zhang, Youmin (Concordia University)

Extended State Observer-Based Finite-Time Trajectory Tracking Control of Fixed-Wing UAV with Prescribed Error Constraint

Scheduled for presentation during the Regular Session "Air Vehicle Operations" (FrC1), Friday, June 24, 2022, 16:00−16:20, Asimon

2022 International Conference on Unmanned Aircraft Systems (ICUAS), June 21-24, 2022, Dubrovnik, Croatia

This information is tentative and subject to change. Compiled on April 25, 2024

Abstract

This paper proposes a finite-time trajectory tracking control (TTC) for a fixed-wing unmanned aerial vehicle (UAV) by a fast non-singular terminal sliding-mode strategy. A second-order nonlinear model is established to transform the UAV outer loop dynamics. To estimate the external disturbance, an extended state observer with finite-time observation capability is utilized. Furthermore, the trajectory tracking errors are constrained within a bounded region by prescribed performance control. Finally, simulations are conducted to verify the effectiveness of the finite-time TTC scheme.