Attitude Control Method of Unmanned Helicopter Based on Asymmetric Tracking Differentiator and Fal-Extended State Observer

Chen Cheng, Zian Wang (), Chengxi Zhang and Yang Yang
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Chen Cheng: School of Aerospace Engineering, Shenyang Aerospace University, Shenyang 110000, China
Zian Wang: China Academy of Launch Vehicle Technology, Beijing 100076, China
Chengxi Zhang: School of Electronics and Information Engineering, Harbin Institute of Technology, Shenzhen 518055, China
Yang Yang: China Academy of Launch Vehicle Technology, Beijing 100076, China

Mathematics, 2022, vol. 10, issue 19, 1-30

Abstract: In order to meet the constraints of velocity and acceleration of displacement and attitude motion of an unmanned helicopter during an automatic carrier landing mission, an asymmetric tracking differentiator, which could set the speed and acceleration limits in two directions of tracked signal motion respectively, was derived based on the tracking differentiator in the active disturbance rejection control method. Based on the proposed asymmetric tracking differentiator, a fal-extended state observer based on the fal function was added to construct the attitude and angular velocity controller which is programmable during the transition process of unmanned helicopters. The mathematical simulation and result analysis show that the newly proposed attitude estimation algorithm effectively compensates for the deficiencies of the existing methods, improves the anti-jamming capability and the accuracy of attitude estimation in the maneuvering process, achieving the expected design purposes.

Keywords: unmanned helicopter; attitude control; asymmetric tracking differentiator; nonlinear disturbance observer (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2022
References: View complete reference list from CitEc
Citations: View citations in EconPapers (1)

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