Composite Control of All-Electric Braking System with Electromechanical Actuator Redundancy Based on Enhanced NESO

This paper presents a new type of all-electric braking (AEB) system with electromechanical actuator (EMA) redundancy for unmanned aerial vehicles (UAVs). The proposed system adopts a redundancy design. When a channel is faulty, the channel is removed, and the other channel outputs the total braking force. Firstly, its composition structure and mathematical model with nonlinear characteristics are proposed. Meanwhile, the integral sliding-mode control (SMC) algorithm is used in the pressure-tracking loop to improve the robustness for disturbance. In addition, the enhanced nonlinear extended state observer (NESO) is introduced as the feedforward compensation to weaken the chattering phenomenon further. Finally, the experimental results verified the feasibility of the proposed redundancy design and the superiority of the control strategy.