Defence Technology (Sep 2024)

Robust fixed-time flight controller for a dual-system convertible UAV in the cruise mode

  • Lulu Chen,
  • Zhenbao Liu,
  • Qingqing Dang,
  • Wen Zhao,
  • Wenyu Chen

Journal volume & issue
Vol. 39
pp. 53 – 66

Abstract

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This paper investigates the attitude tracking control problem for the cruise mode of a dual-system convertible unmanned aerial vehicle (UAV) in the presence of parameter uncertainties, unmodeled uncertainties and wind disturbances. First, a fixed-time disturbance observer (FXDO) based on the bi-limit homogeneity theory is designed to estimate the lumped disturbance of the convertible UAV model. Then, a fixed-time integral sliding mode control (FXISMC) is combined with the FXDO to achieve strong robustness and chattering reduction. Bi-limit homogeneity theory and Lyapunov theory are applied to provide detailed proof of the fixed-time stability. Finally, numerical simulation experimental results verify the robustness of the proposed algorithm to model parameter uncertainties and wind disturbances. In addition, the proposed algorithm is deployed in a open-source UAV autopilot and its effectiveness is further demonstrated by hardware-in-the-loop experimental results.

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