Design of flight control system for a Hypersonic Gliding Vehicle based on nonlinear disturbance observer

2013 ◽  
Author(s):  
Chengshan Qian ◽  
Changyin Sun ◽  
Yiqing Huang ◽  
Chaoxu Mu ◽  
Jingmei Zhang ◽  
...  
Keyword(s):  
Control System ◽  
Flight Control ◽  
Disturbance Observer ◽  
Flight Control System ◽  
Nonlinear Disturbance Observer ◽  
Nonlinear Disturbance

scholarly journals Enhanced Disturbance-Observer-Based Control for a Class of Time-Delay System with Uncertain Sinusoidal Disturbances

2013 ◽  
Vol 2013 ◽  
pp. 1-8 ◽  
Author(s):  
Xinyu Wen
Keyword(s):  
Time Delay ◽  
Flight Control ◽  
Disturbance Observer ◽  
Delay System ◽  
Delay Systems ◽  
Flight Control System ◽  
Control Laws ◽  
Nonlinear Disturbance Observer ◽  
Dynamic Performances ◽  
Uncertain Disturbance

This paper is concerned with disturbance-observer-based control (DOBC) for a class of time-delay systems with uncertain sinusoidal disturbances. The disturbances are decomposed as precise and uncertain parts using nonlinear disturbance observer (DO) after appropriate coordinate transformation. And then the two parts can be compensated by corresponding controller, respectively, such that the classic DOBC method is extended to uncertain disturbance rejection. One novel feature of the proposed method is that even if the precise disturbance parameters are inaccessible, the merits of DOBC can be inherited. By integrating the disturbance observers with feedback control laws with time delay, the disturbances can be rejected and the desired dynamic performances can be guaranteed. Finally, simulations for a flight control system are given to demonstrate the effectiveness of the results.

Robust Attitude Control for Quadrotors Based on Parameter Optimization of a Nonlinear Disturbance Observer

2019 ◽  
Vol 141 (8) ◽  
Author(s):  
Shatadal Mishra ◽  
Todd Rakstad ◽  
Wenlong Zhang
Keyword(s):  
Flight Control ◽  
Attitude Control ◽  
Disturbance Rejection ◽  
Disturbance Observer ◽  
Control Unit ◽  
Nonlinear Disturbance Observer ◽  
Wave Disturbances ◽  
Active Disturbance Rejection ◽  
Exogenous Disturbances ◽  
Nonlinear Disturbance

This paper presents a nonlinear disturbance observer (NDOB) for active disturbance rejection in the attitude control loop for quadrotors. An optimization framework is developed for tuning the parameter in the NDOB structure, which includes the infinity-norm minimization of the weighted sum of noise-to-output transfer function and load disturbance sensitivity function. Subsequently, the minimization generates an optimal value of the parameter based on the tradeoff between disturbance rejection and noise propagation in the system. The proposed structure is implemented on PIXHAWK, a real-time embedded flight control unit. Simulation tests are carried out on a custom built, high-fidelity simulator providing physically accurate simulations. Furthermore, experimental flight tests are conducted to demonstrate the performance of the proposed approach. The system is injected with step, sinusoidal, and square wave disturbances, and the corresponding system tracking performance is recorded. Experimental results show that the proposed algorithm attenuates the disturbances better compared to just a baseline controller implementation. The proposed algorithm is computationally cheap, an active disturbance rejection technique and robust to exogenous disturbances.

Disturbance observer based dynamic surface flight control for an uncertain aircraft

2017 ◽  
Vol 232 (4) ◽  
pp. 729-744 ◽  
Author(s):  
Jianjun Ma ◽  
Peng Li ◽  
Zhiqiang Zheng
Keyword(s):  
Flight Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Tracking Error ◽  
Small Neighborhood ◽  
Dynamic Surface ◽  
Nonlinear Disturbance Observer ◽  
Actuator Dynamics ◽  
Highly Nonlinear ◽  
Nonlinear Disturbance

To handle the flight control problem of an uncertain aircraft with highly nonlinear characteristics, internal uncertainties and external disturbances, an adaptive dynamic surface controller based on nonlinear disturbance observer is designed in this paper. A novel nonhomogeneous nonlinear disturbance observer is designed to approximate the uncertainties and disturbances, which can exactly estimate the disturbances in finite time. Dynamic surface control is utilized to avoid the explosion of complexity in traditional backstepping design. Through Lyapunov synthesis, the closed-loop control system is demonstrated to be semi-globally uniformly ultimately bounded and the tracking error converges to a small neighborhood of origin. Besides, actuator dynamics are taken into account, and the controller for actuator dynamics with consideration of limitation is developed based on sliding-mode control theory. The effectiveness of the proposed control is shown by simulation experiments.

scholarly journals Robust Predictive Functional Control for Flight Vehicles Based on Nonlinear Disturbance Observer

2015 ◽  
Vol 2015 ◽  
pp. 1-16
Author(s):  
Yinhui Zhang ◽  
Huabo Yang ◽  
Zhenyu Jiang ◽  
Fan Hu ◽  
Weihua Zhang
Keyword(s):  
Flight Control ◽  
Disturbance Observer ◽  
Linear Structure ◽  
Flight Vehicle ◽  
Nonlinear Disturbance Observer ◽  
Flight Vehicles ◽  
Predictive Functional Control ◽  
State Dependent ◽  
Functional Control ◽  
Nonlinear Disturbance

A novel robust predictive functional control based on nonlinear disturbance observer is investigated in order to address the control system design for flight vehicles with significant uncertainties, external disturbances, and measurement noise. Firstly, the nonlinear longitudinal dynamics of the flight vehicle are transformed into linear-like state-space equations with state-dependent coefficient matrices. And then the lumped disturbances are considered in the linear structure predictive model of the predictive functional control to increase the precision of the predictive output and resolve the intractable mismatched disturbance problem. As the lumped disturbances cannot be derived or measured directly, the nonlinear disturbance observer is applied to estimate the lumped disturbances, which are then introduced to the predictive functional control to replace the unknown actual lumped disturbances. Consequently, the robust predictive functional control for the flight vehicle is proposed. Compared with the existing designs, the effectiveness and robustness of the proposed flight control are illustrated and validated in various simulation conditions.

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