Incremental Control for LAPAN Turbojet UAV Considering Disturbance and Uncertainties

2019 IEEE International Conference on Aerospace Electronics and Remote Sensing Technology (ICARES) Pub Date : 2019-10-01 DOI:10.1109/ICARES.2019.8914348

Idris E. Putro, S. Sofyan, R. Andiarti

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Abstract

Unexpected external disturbance, parameter uncertainties, and UAV model inaccuracy are several issues causing significant reduction in UAV stability. Robust nominal control based sliding mode control (SMC) has been developed to maintain the flight performance. However, chattering problem comes along with the implementation of discontinuous switching control law in SMC. This paper presents the application of incremental control for LAPAN Turbojet UAV to turn the UAV becomes less sensitive from model dependency, and overcome parameter uncertainties. Incremental approach on SMC (ISMC) and chattering reduction methods are implemented to keep robustness of the control and solve the chattering phenomena occurs on control surface. The proposed control systems are implemented for the decoupled linear UAV models and observed through simulations using MATLAB/Simulink program. The simulation results are analyzed and the advantages of the proposed approach are validated through comparing the results.

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考虑干扰和不确定性的LAPAN涡喷无人机增量控制

意外的外部干扰、参数的不确定性和无人机模型的不准确性是导致无人机稳定性显著降低的几个问题。基于鲁棒标称控制的滑模控制(SMC)被开发出来以保持飞行性能。然而，在SMC中，随着不连续切换控制律的实施，抖振问题也随之而来。提出了将增量控制应用于LAPAN涡喷发动机无人机，使无人机摆脱模型依赖的敏感性，克服参数不确定性。为了保持控制的鲁棒性，解决控制面出现的抖振现象，采用了SMC (ISMC)的增量方法和减振方法。针对解耦的线性无人机模型，实现了所提出的控制系统，并利用MATLAB/Simulink程序进行了仿真。对仿真结果进行了分析，并通过对比验证了所提方法的优越性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2019 IEEE International Conference on Aerospace Electronics and Remote Sensing Technology (ICARES)

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