| A novel approach to the attitude stabilization structure for ducted-fan operative aerial robots:Finding improvements for modeling error and strong external transient disturbance |
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| 作者姓名： | Wei FAN Bin XU Changle XIANG Yibo ZHANG Haiyang YANG |
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| 作者单位： | School of Mechanical Engineering,Beijing Institute of Technology,Beijing 100081,China;Beijing Institute of Technology Chongqing Innovation Center,Chongqing 401135,China;School of Automation,Beijing Institute of Technology,Beijing 100081,China;School of Mechanical Engineering,Beijing Institute of Technology,Beijing 100081,China;Beijing Institute of Technology Chongqing Innovation Center,Chongqing 401135,China;School of Mechanical Engineering,Beijing Institute of Technology,Beijing 100081,China |
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| 基金项目： | co-supported by the National Key Research and Development Program of China (No. 2020YFC1512500)；;the National Natural Science Foundation of Chongqing, China (No. cstc2020jcyj-msxm3857)； |
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| 摘 要： | This research concerns a novel attitude stabilization structure for a ducted-fan aerial robot to work against modeling error and strong external transient disturbance, and it focuses on two main control targets: modeling error compensation, and the improvement of disturbance resistance along the rolling channel. For the first research objective, we proposed an adaptive nominal controller with the reconfigurable control law design based on the estimation of the modeling error found in the closed-...
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| 收稿时间： | 27 September 2020 |
A novel approach to the attitude stabilization structure for ducted-fan operative aerial robots:Finding improvements for modeling error and strong external transient disturbance |
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| Wei FAN,Bin XU,Changle XIANG,Yibo ZHANG,Haiyang YANG.A novel approach to the attitude stabilization structure for ducted-fan operative aerial robots:Finding improvements for modeling error and strong external transient disturbance[J].Chinese Journal of Aeronautics,2022,35(2):250-264. |
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| Authors: | Wei FAN Bin XU Changle XIANG Yibo ZHANG Haiyang YANG |
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| Institution: | 1. School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China;2. Beijing Institute of Technology Chongqing Innovation Center, Chongqing 401135, China;3. School of Automation, Beijing Institute of Technology, Beijing 100081, China |
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| Abstract: | This research concerns a novel attitude stabilization structure for a ducted-fan aerial robot to work against modeling error and strong external transient disturbance,and it focuses on two main control targets:modeling error compensation,and the improvement of disturbance resistance along the rolling channel.For the first research objective,we proposed an adaptive nominal controller with the reconfigurable control law design based on the estimation of the modeling error found in the closed-loop.Results of simulations and corresponding flight tests verified that the proposed adaptive control structure is robust against both constant and time-varying modeling error.For the other research objective,a SAC (Stability Augmentation Control) structure was devised based on the CMG (Control Moment Gyroscope) theory in order to provide extra moment which effectively with-stands the transient disturbance beyond the CDG (Critical Disturbance Gain).Furthermore,we stud-ied the corresponding controller for the SAC via the SMC (sliding mode control) theory,while the working mechanism and performance of the SAC were verified through a specially devised prototype. |
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| Keywords: | Adaptive control Disturbance rejection Ducted-fan aircraft Modeling error Stability augmentation systems |
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