Attitude stabilization of flapping micro-air vehicles via an observer-based sliding mode control method

被引：12

作者：

Tran, Xuan-Toa ^{[1
]}

Oh, Hyondong ^{[1
]}

Kim, In-Rae ^{[2
]}

Kim, Seungkeun ^{[2
]}

机构：

[1] Ulsan Natl Inst Sci & Technol, Sch Mech & Nucl Engn, Ulsan 44919, South Korea

[2] Chungnam Natl Univ, Dept Aerosp Engn, 99 Daehak Ro, Daejeon 305764, South Korea

来源：

AEROSPACE SCIENCE AND TECHNOLOGY | 2018年 / 76卷

基金：

新加坡国家研究基金会;

关键词：

Flapping micro-air vehicles; Attitude stabilization; Finite-time observer; Sliding mode control; FLIGHT; STABILITY; DYNAMICS;

D O I：

10.1016/j.ast.2018.01.045

中图分类号：

V [航空、航天];

学科分类号：

08 ; 0825 ;

摘要：

This paper introduces an observer-based sliding mode control strategy for stabilizing the attitude of flapping micro-air vehicles in the presence of unknown uncertainties and external disturbances. First, a finite-time observer is designed to estimate the lumped disturbances. Next, a controller is developed to provide attitude stabilization with high robustness where the lumped disturbances could be completely rejected after a finite amount of time. The stability of the closed-loop system is rigorously proven. By employing MATLAB/Simulink software, a numerical simulation example including a comparison between the proposed method and a conventional sliding mode controller is provided to illustrate the effectiveness of the proposed method and to confirm the theoretical results. (C) 2018 Elsevier Masson SAS. All rights reserved.

引用

页码：386 / 393

页数：8

共 34 条

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[Anonymous], SLIDING MODE CONTROL

[2] Onboard/Offboard Sensor Fusion for High-Fidelity Flapping-Wing Robot Flight Data [J].