Linear Disturbance Observer-Enhanced Continuous-Time Predictive Control for Straight-Line Path-Following Control of Small Unmanned Aerial Vehicles
This paper studies the straight-line path-following problem on the lateral plane for fixed-wing unmanned aerial vehicles (FWUAVs) which are susceptible to uncertainties. Firstly, based on the natural frame’s location on the prescribed reference paths, the command yaw angle (which is the basis for ya...
Saved in:
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2024-11-01
|
| Series: | Aerospace |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2226-4310/11/11/902 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1850216918190915584 |
|---|---|
| author | Weiwei Qi Mingbo Tong Xubo Li Qi Wang Wei Song |
| author_facet | Weiwei Qi Mingbo Tong Xubo Li Qi Wang Wei Song |
| author_sort | Weiwei Qi |
| collection | DOAJ |
| description | This paper studies the straight-line path-following problem on the lateral plane for fixed-wing unmanned aerial vehicles (FWUAVs) which are susceptible to uncertainties. Firstly, based on the natural frame’s location on the prescribed reference paths, the command yaw angle (which is the basis for yaw angle control system design) is solved analytically by combining it with the errors of path following, attack angle, sideslip angle, attitude angles, and geometric parameters of the prescribed reference paths. Secondly, by considering complicated dynamic characteristics, a linear extended state observer is designed to estimate uncertainties such as nonlinearities, couplings, and unmodeled dynamics whose estimated values are incorporated into the continuous-time predictive controllers for feedback compensation. Finally, numerical simulations are conducted to demonstrate the advantages of the proposed method, including reduced tracking errors and enhanced robustness in the closed-loop system, as compared to the conventional nonlinear dynamic inversion and sliding mode control approaches. |
| format | Article |
| id | doaj-art-e3242b2cedbc47bda91df961645f237f |
| institution | OA Journals |
| issn | 2226-4310 |
| language | English |
| publishDate | 2024-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Aerospace |
| spelling | doaj-art-e3242b2cedbc47bda91df961645f237f2025-08-20T02:08:11ZengMDPI AGAerospace2226-43102024-11-01111190210.3390/aerospace11110902Linear Disturbance Observer-Enhanced Continuous-Time Predictive Control for Straight-Line Path-Following Control of Small Unmanned Aerial VehiclesWeiwei Qi0Mingbo Tong1Xubo Li2Qi Wang3Wei Song4College of Aerospace Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, ChinaCollege of Aerospace Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, ChinaSchool of Agricultural Engineering, Jiangsu University, Zhenjiang 212013, ChinaSchool of Aircraft Engineering, Nanchang Hangkong University, Nanchang 330063, ChinaSchool of Aircraft Engineering, Nanchang Hangkong University, Nanchang 330063, ChinaThis paper studies the straight-line path-following problem on the lateral plane for fixed-wing unmanned aerial vehicles (FWUAVs) which are susceptible to uncertainties. Firstly, based on the natural frame’s location on the prescribed reference paths, the command yaw angle (which is the basis for yaw angle control system design) is solved analytically by combining it with the errors of path following, attack angle, sideslip angle, attitude angles, and geometric parameters of the prescribed reference paths. Secondly, by considering complicated dynamic characteristics, a linear extended state observer is designed to estimate uncertainties such as nonlinearities, couplings, and unmodeled dynamics whose estimated values are incorporated into the continuous-time predictive controllers for feedback compensation. Finally, numerical simulations are conducted to demonstrate the advantages of the proposed method, including reduced tracking errors and enhanced robustness in the closed-loop system, as compared to the conventional nonlinear dynamic inversion and sliding mode control approaches.https://www.mdpi.com/2226-4310/11/11/902fixed-wing unmanned aerial vehiclespath followinglinear extended state observerpredictive control |
| spellingShingle | Weiwei Qi Mingbo Tong Xubo Li Qi Wang Wei Song Linear Disturbance Observer-Enhanced Continuous-Time Predictive Control for Straight-Line Path-Following Control of Small Unmanned Aerial Vehicles Aerospace fixed-wing unmanned aerial vehicles path following linear extended state observer predictive control |
| title | Linear Disturbance Observer-Enhanced Continuous-Time Predictive Control for Straight-Line Path-Following Control of Small Unmanned Aerial Vehicles |
| title_full | Linear Disturbance Observer-Enhanced Continuous-Time Predictive Control for Straight-Line Path-Following Control of Small Unmanned Aerial Vehicles |
| title_fullStr | Linear Disturbance Observer-Enhanced Continuous-Time Predictive Control for Straight-Line Path-Following Control of Small Unmanned Aerial Vehicles |
| title_full_unstemmed | Linear Disturbance Observer-Enhanced Continuous-Time Predictive Control for Straight-Line Path-Following Control of Small Unmanned Aerial Vehicles |
| title_short | Linear Disturbance Observer-Enhanced Continuous-Time Predictive Control for Straight-Line Path-Following Control of Small Unmanned Aerial Vehicles |
| title_sort | linear disturbance observer enhanced continuous time predictive control for straight line path following control of small unmanned aerial vehicles |
| topic | fixed-wing unmanned aerial vehicles path following linear extended state observer predictive control |
| url | https://www.mdpi.com/2226-4310/11/11/902 |
| work_keys_str_mv | AT weiweiqi lineardisturbanceobserverenhancedcontinuoustimepredictivecontrolforstraightlinepathfollowingcontrolofsmallunmannedaerialvehicles AT mingbotong lineardisturbanceobserverenhancedcontinuoustimepredictivecontrolforstraightlinepathfollowingcontrolofsmallunmannedaerialvehicles AT xuboli lineardisturbanceobserverenhancedcontinuoustimepredictivecontrolforstraightlinepathfollowingcontrolofsmallunmannedaerialvehicles AT qiwang lineardisturbanceobserverenhancedcontinuoustimepredictivecontrolforstraightlinepathfollowingcontrolofsmallunmannedaerialvehicles AT weisong lineardisturbanceobserverenhancedcontinuoustimepredictivecontrolforstraightlinepathfollowingcontrolofsmallunmannedaerialvehicles |