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

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Abstract

The attitude control system of a flapping-wing flying robot plays an important role in the precise orientation and tracking of the robot. In 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 described. The main design difficulties are the control law and the adaptive law for the attitude control system. To address this problem, a sliding mode adaptive extended state observer algorithm is proposed. Firstly, a new extended state approximation method is used to estimate the final output as a disturbance state. Then, a sliding mode observer with good robustness to the model approximation error and external disturbance is used to estimate the system state. Compared with traditional algorithms, this method is not only suitable for more general cases, but also effectively reduces the influence of the approximation error and interference. Next, the simulation and experiment example is given to illustrate the implementation process. The 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.

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Acknowledgment

This study was supported by the project of National Natural Science Foundation of China (Grant No. 61703390), and Anhui Natural Science Foundation (Grant No. 1808085QF193), and Pre-research Union Fund of China Ministry of Education & PLA Equipment Development Department (Grant No. 6141A02033616) and 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.

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Authors and Affiliations

  1. School of Information Engineering, Southwest University of Science and Technology, Robot Technology Used for Special Environment Key Laboratory of Sichuan Province, Mianyang, 621010, China

    Keqiang Bai

  2. Automation Research Institute Co., Ltd. of China South Industries Group Corporation, Mianyang, 621000, China

    YunZhi Luo

  3. Science and Technology on Altitude Simulation Laboratory, AECC Sichuan Gas Turbine Establishment, Mianyang, 621703, China

    Zhihong Dan & Song Zhang

  4. AECC Sichuan Gas Turbine Establishment, Mianyang, 621703, China

    Zhihong Dan, Song Zhang & Qiumeng Qian

  5. Chinese Academy of Sciences Hefei Institutes of Physical Science, Hefei, 230022, China

    Meiling Wang

  6. College of Mechanical and Electrical Engineering, Hohai University, Changzhou, 213022, China

    Jun Zhong

Authors
  1. Keqiang Bai
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  2. YunZhi Luo
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  3. Zhihong Dan
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  4. Song Zhang
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  5. Meiling Wang
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  6. Qiumeng Qian
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  7. Jun Zhong
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Corresponding authors

Correspondence to Keqiang Bai or Jun Zhong.

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Bai, K., Luo, Y., Dan, Z. et al. Extended State Observer based Attitude Control of a Bird-like Flapping-wing Flying Robot. J Bionic Eng 17, 708–717 (2020). https://doi.org/10.1007/s42235-020-0063-y

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  • DOI: https://doi.org/10.1007/s42235-020-0063-y

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