Extended observer based on adaptive second order sliding mode control for a fixed wing UAV

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• 作者：Herman Casta&ntilde ; eda^a ; ^{hermancc08@gmail.com} ; Oscar S. Salas-Pe&ntilde ; a^b ; ^{salvador.sp@gmail.com} ; Jesú ; s de Leó ; n-Morales^b ; ^{drjleon@gmail.com}
• 关键词：Fixed wing UAV ; Adaptive control ; Extended observer ; Flight control ; UAVs
• 刊名：ISA Transactions
• 出版年：2017
• 出版时间：January 2017
• 年：2017
• 卷：66
• 期：Complete
• 页码：226-232
• 全文大小：2317 K
• 卷排序：66

文摘

An observer based control for tracking desired trajectories for a fixed wing unmanned aerial vehicle is proposed. This approach is robust under parametric uncertainties and external disturbances via an extended state observer. Extended observers are used to estimate the state vector and external perturbations. The adaptive second order sliding mode controller ensures finite time convergence and requires less control effort. Stability analysis for the observer based control is given.