Extended State Observer based Attitude Control of a Bird-like Flapping-wing Flying Robot

作     者：Keqiang Bai YunZhi Luo Zhihong Dan Song Zhang Meiling Wang Qiumeng Qian Jun Zhong Keqiang Bai;YunZhi Luo;Zhihong Dan;Song Zhang;Meiling Wang;Qiumeng Qian;Jun Zhong

作者机构：School of Information EngineeringSouthwest University of Science and TechnologyRobot Technology Used for Special Environment Key Laboratory of Sichuan ProvinceMianyang 621010China Automation Research Institute Co.Ltd.of China South Industries Group CorporationMianyang 621000China Science and Technology on Altitude Simulation LaboratoryAECC Sichuan Gas Turbine EstablishmentMianyang 621703China AECC Sichuan Gas Turbine EstablishmentMianyang 621703China Chinese Academy of Sciences Hefei Institutes of Physical ScienceHefei 230022China College of Mechanical and Electrical EngineeringHohai UniversityChangzhou 213022China 

出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)

年 卷 期：2020年第17卷第4期

页      面：708-717页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 081105[工学-导航、制导与控制] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 0811[工学-控制科学与工程] 

基　　金：the project of National Natural Science Foundation of China(Grant No.61703390) Anhui Natural Science Foundation(Grant No.1808085QF193) Preresearch Union Fund of China Ministry of Education&PLA Equipment Development Department(Grant No.6141A02033616) Sichuan Gas Turbine Establishment of Aero Engine Corporation of China(Grant No.SHYS-2019-0004).The authors appreciate the comments and valuable suggestions of anonymous referees and editors for improving the quality of the manuscript 

主　　题：bionic attitude control flapping-wing flying robot sliding mode adaptive control extended state observer 

摘      要：The attitude control system of a flapping-wing flying robot plays an important role in the precise orientation and tracking of the *** this paper,the modeling of a bird-like micro flapping-wing system is introduced,and the design of a sliding mode controller based on an Extended State Observer(ESO)is *** main design difficulties are the control law and the adaptive law for the attitude control *** address this problem,a sliding mode adaptive extended state observer algorithm is ***,a new extended state approximation method is used to estimate the final output as a disturbance ***,a sliding mode observer with good robustness to the model approximation error and external disturbance is used to estimate the system *** with traditional algorithms,this method is not only suitable for more general cases,but also effectively reduces the influence of the approximation error and ***,the simulation and experiment example is given to illustrate the implementation *** results show that the algorithm can effectively estimate the state of the attitude control system of the flapping-wing flying robot,and further guarantee the robustness of the model regarding error and external disturbance.