Research on the control strategy of UAV electromechanical actuator system based on ESO

DOI:	10.11809/bqzbgcxb2023.07.034
Keywords:	extended state observer; nonsingular fast terminal sliding mode; UAV; electromechanical actuator system; speed controller
Abstract:	For the influence of uncertainties including parameter perturbation and unknown external disturbance on the dynamic performance of UAV electromechanical actuator system, this paper designs an extended fourth order load torque observer to observe the disturbance torque of the system in real time, and conduct feedback compensation to the speed controller. The control strategy adopts the double closed loop control structure composed of a position loop and a speed loop. The traditional PID control is used in the position loop, and the nonsingular fast terminal sliding mode control method is applied to the speed loop. The comparative simulation results and robustness tests show that this method can not only ensure the basic performance of the system such as steady state accuracy and response speed, but also weaken the influence of impact load interference. The control method can make the system error converge within a finite time, and results show that, compared with the PID control and Sliding Mode Control (SMC), the designed controller has a higher position tracking accuracy and anti interference ability, which effectively improves the robustness of the system.
Published:	2023-07-28
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