Variable structure attitude control for a rolling aerial vehicle via extended state observer

Abstract

-A novel attitude control scheme is proposed for a rolling aerial vehicle (RAV) with large uncertainties. Firstly, the RAV highly coupled nonlinear system is separated into attitude loop and angular loop via backstepping technique. The nominal states are calculated based on the procedure of trajectory linearization control (TLC). Then, extended state observers (ESO) are applied to estimate the uncertainties in the RAV system. Meanwhile, a feedback linearization-based controller is synthesized for the attitude loop using the estimated uncertainties, and an ESO-based sliding mode controller is synthesized for the angular rate loop. The stability of the closedloop system is studied. Simulation results with comparisons are presented to demonstrate the feasibility of the proposed control scheme.

Performance analysis of nonlinear observers applied to the fixed-wing unmanned aerial vehicles flight under decoupled-reduced model

“…Similarly to the SMO applications mentioned early, the aforementioned work related to NESO report only simulations. A relevant application of extended state observers to estimate uncertainties in a control scheme for a rolling aerial vehicle (RAV) is presented in Chen et al 19 In that work, extended state observers are used to estimate the uncertainties of the RAV. In addition, an ESO-based sliding mode controller is synthesized for the angular rate loop.…”