Nonlinear Sliding Mode State Estimation Techniques for UAV Application

Zainab Akhtar, Adnan Nisar, M. T. Hamayun
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引用次数: 2

Abstract

Unmanned air vehicles (UAVs) have received tremendous importance because of their civil, military, industrial, agricultural and security etc. applications. As compared to terrestrial robots, UAVs have to face stronger aerodynamic as well as gravitational forces which effect the dynamics of these flying structures. The control and estimation of unavailable plant states in UAVs is a challenging task due to their nonlinear dynamics in the presence of external uncertainties like air load and noise effects. Practically, external aerodynamic disturbances and sensor noise can alter the desired performance of the aerial robots leading to instability and loss of control of UAVs. Information of all plant states is important for better control and navigation of UAVs. In this paper it is assumed that all plant states are not available, therefore, nonlinear observer design techniques are used to estimate unavailable states of quadrotor plant with least error. The designed nonlinear observer’s results are compared in simulations in the presence of external disturbance and sensor noise. Sliding mode observers implemented in this paper exhibit the property of finite time convergence of error dynamics both with and without disturbances and noise.
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非线性滑模状态估计技术在无人机中的应用
无人驾驶飞行器(uav)在民用、军事、工业、农业和安全等领域的应用已经得到了极大的重视。与地面机器人相比,无人机必须面对更强的空气动力和重力,这些动力会影响这些飞行结构的动力学。由于无人机在空气载荷和噪声等外部不确定因素下的非线性动力学特性,其不可用状态的控制和估计是一项具有挑战性的任务。实际上,外部气动干扰和传感器噪声会改变无人机的预期性能,导致无人机的不稳定和失去控制。所有植物状态的信息对于无人机更好的控制和导航非常重要。本文假设四旋翼飞行器的所有状态都是不可用的,因此采用非线性观测器设计技术以最小的误差估计四旋翼飞行器的不可用状态。在存在外部干扰和传感器噪声的情况下,对所设计的非线性观测器的仿真结果进行了比较。本文实现的滑模观测器无论在有无干扰和噪声的情况下,都表现出误差动力学的有限时间收敛性。
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