In order to address the robust control problem of small fixed-wing Unmanned Aerial Vehicles(UAVs)under changes in center of gravity and external interference fluctuations,the research of the incremental nonlinear dynamic inverse flight control system combined with a fixed-time disturbance observer is proposed.Initially,the angular acceleration signal with small time delay and high signal-to-noise ratio is estimated based on the enhanced differential filtering method,and the estimated angular acceleration signal is introduced into the flight control system.Subsequently,the design of fixed-time disturbance observer is carried out and introduced into the incremental nonlinear dynamic inverse control system to form a resilient anti-disturbance control system.Finally,simulation tests are conducted based on a small fixed-wing UAV platform,which firstly demonstrates the accuracy of the fixed-time disturbance observer for the estimation of moment disturbances;then compared with the non-observer system,the control errors of the proposed resilient control system against step,gate signal and harmonic disturbances are reduced by 9.46%,15.58%and 83.76%respectively,which prove the control stability and safety of the proposed system in the presence of external disturbances.Eventually,after adjusting the UAV from a static stable state to an unstable state,the proposed resilient control strategy still achieves stable control of the studied UAV,which further proves the superior performance of the proposed control system.
维普
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