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

Author

Listed:
  • 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)

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.

Suggested Citation

  • Chen Cheng & Zian Wang & Chengxi Zhang & Yang Yang, 2022. "Attitude Control Method of Unmanned Helicopter Based on Asymmetric Tracking Differentiator and Fal-Extended State Observer," Mathematics, MDPI, vol. 10(19), pages 1-30, September.
    • Handle: RePEc:gam:jmathe:v:10:y:2022:i:19:p:3439-:d:921503
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    Cited by:

    1. Zian Wang & Zheng Gong & Yang Yang & Yongzhen Liu & Pengcheng Cai & Chengxi Zhang, 2022. "Guidance Law for Autonomous Takeoff and Landing of Unmanned Helicopter on Mobile Platform Based on Asymmetric Tracking Differentiator," Mathematics, MDPI, vol. 11(1), pages 1-39, December.

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