Fuzzy self-adjusting tracking control based on disturbance observer for airborne platform mounted on multi-rotor unmanned aerial vehicle

	Fuzzy self-adjusting tracking control based on disturbance observer for airborne platform mounted on multi-rotor unmanned aerial vehicle
	Wang, R.-J.; Y. Bai; Z.-J. Xu; X. Gong; X. Zhang and Y.-T. Tian
	2015
发表期刊	Zhejiang Daxue Xuebao (Gongxue Ban)/Journal of Zhejiang University (Engineering Science)
卷号	49 期号:10 页码:2005-2012
摘要	A scheme of fuzzy self-adjusting tracking control based on an improved disturbance observer (DOB) was proposed in order to compensate disturbance and accomplish the stabilized tracking control for airborne platform mounted on multi-rotor unmanned aerial vehicle. A compensated control was introduced into feedback loop which is in the structure of original disturbance observer. An improved disturbance observer was constructed based on velocity signals. The ability of disturbance compensation and robustness were analyzed. A fuzzy self-adjusting tracking control structure was designed according to the approaching property of fuzzy system and Lyapunov stability theory. The stability of the tracking control structure was proved. The flight experiment results showed that the mean square error of line of sight was below 0.02 and the error of tracking reference position was less than 0.08 after applying the proposed scheme. Results demonstrate that the proposed scheme can completely satisfy the stabilized tracking control demand of airborne platform. The disturbance rejected ability was significantly improved after introducing the compensated control. The proposed control method possessed upper stabilized tracking accuracy. , 2015, Zhejiang University. All right reserved.
文章类型	期刊论文
收录类别	EI
文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/56357
专题	中科院长春光机所知识产出
推荐引用方式 GB/T 7714	Wang, R.-J.,Y. Bai,Z.-J. Xu,et al. Fuzzy self-adjusting tracking control based on disturbance observer for airborne platform mounted on multi-rotor unmanned aerial vehicle[J]. Zhejiang Daxue Xuebao (Gongxue Ban)/Journal of Zhejiang University (Engineering Science),2015,49(10):2005-2012.
APA	Wang, R.-J.,Y. Bai,Z.-J. Xu,X. Gong,&X. Zhang and Y.-T. Tian.(2015).Fuzzy self-adjusting tracking control based on disturbance observer for airborne platform mounted on multi-rotor unmanned aerial vehicle.Zhejiang Daxue Xuebao (Gongxue Ban)/Journal of Zhejiang University (Engineering Science),49(10),2005-2012.
MLA	Wang, R.-J.,et al."Fuzzy self-adjusting tracking control based on disturbance observer for airborne platform mounted on multi-rotor unmanned aerial vehicle".Zhejiang Daxue Xuebao (Gongxue Ban)/Journal of Zhejiang University (Engineering Science) 49.10(2015):2005-2012.

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