期刊
IEEE ACCESS
卷 8, 期 -, 页码 171359-171372出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/ACCESS.2020.3024793
关键词
Aerodynamics; Attitude control; Aircraft; Unmanned aerial vehicles; Atmospheric modeling; Simulation; Flapping wing micro air vehicle; active disturbance rejection control; attitude control automatic landing
资金
- National Key Research and Development Program of China [2017YFB1300102]
- National Natural Science Foundation of China [11872314, U1613227]
To solve the attitude control problem of bird-like flapping wing micro air vehicles (FWMAVs) during automatic landing, an active disturbance rejection control (ADRC) architecture is proposed in this paper. This control scheme takes into account the attitude control of flapping, transition and gliding modes in the process of automatic landing. To verify the control effect, the aerodynamic estimation method of the flapping wing based on quasi-steady theory and the dynamics of an FWMAV in Lagrangian form are applied in the simulation. The proposed control architecture consists of two independent ADRC controllers to stabilize the attitude of the pitch and roll channels. The system disturbance and the coupling effects between channels are estimated by an extended state observer (ESO) and compensated in real time in the control output. The convergence of the ESO and ADRC is proven. Simulation results show that even if the aircraft is in different flight modes, the ADRC controller can track the target trajectory quickly and accurately. Then, to realize automatic landing in a real environment, a simplified two-stage landing trajectory is designed. A landing test is carried out on this basis. The test results show that ADRC can not only stabilize the flight attitude in flapping mode but also obtain a satisfactory control accuracy and convergence speed when the aircraft is in the transition and gliding modes, confirming its usefulness in automatic landing.
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