Actuator dynamics augmented DOBC for a small scale fixed wing UAV

Jean Smith; Jun Yang; Cunjia Liu; Wen Hua Chen

doi:10.1109/ICIT.2018.8352149

Actuator dynamics augmented DOBC for a small scale fixed wing UAV

Jean Smith, Jun Yang, Cunjia Liu, Wen Hua Chen

Department of Aeronautical and Aviation Engineering

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

2 Citations (Scopus)

Abstract

This paper presents an actuator dynamics augmented Disturbance Observer Based Control (DOBC) approach for the lateral control of a small fixed wing Unmanned Aerial Vehcile (UAV). Different from most of existing DOBC approaches applied to UAV control, the observer is augmented to estimate actuator states as well as disturbances. The new idea on observer design results in better control performance as compared with the traditional DOBC approach. The actuator modelling process of the UAV is provided in detail. The closed-loop stability as well as observer tuning guidelines are discussed. The performance improvement is demonstrated first in numerical simulation and validated with flight test results using a Skywalker X8.

Original language	English
Title of host publication	Proceedings - 2018 IEEE International Conference on Industrial Technology, ICIT 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	40-45
Number of pages	6
ISBN (Electronic)	9781509059492
DOIs	https://doi.org/10.1109/ICIT.2018.8352149
Publication status	Published - 27 Apr 2018
Event	19th IEEE International Conference on Industrial Technology, ICIT 2018 - Lyon, France Duration: 19 Feb 2018 → 22 Feb 2018

Publication series

Name	Proceedings of the IEEE International Conference on Industrial Technology
Volume	2018-February

Conference

Conference	19th IEEE International Conference on Industrial Technology, ICIT 2018
Country/Territory	France
City	Lyon
Period	19/02/18 → 22/02/18

Keywords

Actuator dynamics
Disturbance rejection
Disturbance-observer-based control
Unmanned aerial vehicle

ASJC Scopus subject areas

Computer Science Applications
Electrical and Electronic Engineering

More information

10.1109/ICIT.2018.8352149

Cite this

Smith, J., Yang, J., Liu, C., & Chen, W. H. (2018). Actuator dynamics augmented DOBC for a small scale fixed wing UAV. In Proceedings - 2018 IEEE International Conference on Industrial Technology, ICIT 2018 (pp. 40-45). (Proceedings of the IEEE International Conference on Industrial Technology; Vol. 2018-February). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICIT.2018.8352149

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abstract = "This paper presents an actuator dynamics augmented Disturbance Observer Based Control (DOBC) approach for the lateral control of a small fixed wing Unmanned Aerial Vehcile (UAV). Different from most of existing DOBC approaches applied to UAV control, the observer is augmented to estimate actuator states as well as disturbances. The new idea on observer design results in better control performance as compared with the traditional DOBC approach. The actuator modelling process of the UAV is provided in detail. The closed-loop stability as well as observer tuning guidelines are discussed. The performance improvement is demonstrated first in numerical simulation and validated with flight test results using a Skywalker X8.",

keywords = "Actuator dynamics, Disturbance rejection, Disturbance-observer-based control, Unmanned aerial vehicle",

author = "Jean Smith and Jun Yang and Cunjia Liu and Chen, \{Wen Hua\}",

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year = "2018",

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doi = "10.1109/ICIT.2018.8352149",

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Smith, J, Yang, J, Liu, C & Chen, WH 2018, Actuator dynamics augmented DOBC for a small scale fixed wing UAV. in Proceedings - 2018 IEEE International Conference on Industrial Technology, ICIT 2018. Proceedings of the IEEE International Conference on Industrial Technology, vol. 2018-February, Institute of Electrical and Electronics Engineers Inc., pp. 40-45, 19th IEEE International Conference on Industrial Technology, ICIT 2018, Lyon, France, 19/02/18. https://doi.org/10.1109/ICIT.2018.8352149

Actuator dynamics augmented DOBC for a small scale fixed wing UAV. / Smith, Jean; Yang, Jun; Liu, Cunjia et al.
Proceedings - 2018 IEEE International Conference on Industrial Technology, ICIT 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 40-45 (Proceedings of the IEEE International Conference on Industrial Technology; Vol. 2018-February).

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

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AB - This paper presents an actuator dynamics augmented Disturbance Observer Based Control (DOBC) approach for the lateral control of a small fixed wing Unmanned Aerial Vehcile (UAV). Different from most of existing DOBC approaches applied to UAV control, the observer is augmented to estimate actuator states as well as disturbances. The new idea on observer design results in better control performance as compared with the traditional DOBC approach. The actuator modelling process of the UAV is provided in detail. The closed-loop stability as well as observer tuning guidelines are discussed. The performance improvement is demonstrated first in numerical simulation and validated with flight test results using a Skywalker X8.

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Actuator dynamics augmented DOBC for a small scale fixed wing UAV

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