LPV model reference control for fixed-wing UAVs ?
نویسندگان
چکیده
This paper proposes a linear parameter varying (LPV) model reference-based control for fixed-wing unmanned aerial vehicles (UAVs), which achieves agile and high performance tracking objectives in extended flight envelopes, e.g. when near stall or deep stall flight conditions are considered. Each of the considered control loops (yaw, pitch and airspeed) delivers an error model that can be reshaped into a quasi-LPV form through an appropriate choice of the scheduling variables. The quasiLPV error models are suitable for designing error feedback controllers using linear matrix inequalities (LMIs), which are derived within the quadratic Lyapunov framework. Simulation results are used to show the effectiveness of the proposed approach.
منابع مشابه
Autonomous Recovery of a Fixed-Wing UAV Using a Net Suspended by Two Multirotor UAVs
This article presents a novel recovery method for fixed-wing Unmanned Aerial Vehicles (UAVs), aimed at enabling operations from marine vessels. Instead of using the conventional method of using a fixed net on the ship deck, we propose to suspend a net under two cooperative multirotor UAVs. While keeping their relative formation, the multirotor UAVs are able to intercept the incoming fixed-wing ...
متن کاملModel Reference Switching Quasi-LPV Control of a Four Wheeled Omnidirectional Robot
In this paper, the problem of trajectory tracking for a four wheeled omnidirectional robot is solved in the inertial fixed coordinate system. The solution relies on a reference model approach, where the resulting nonlinear error model is brought to a quasi-Linear Parameter Varying (LPV) form suitable for designing an LPV controller using Linear Matrix Inequalities (LMI)-based techniques. In par...
متن کاملDecentralized Control of Multi-UAVs for Target Search, Tasking and Tracking
This paper considers integrated target search, tasking and tracking using multiple fixed-wing UAVs in urban environments. The problem is to design autonomy for each individual UAV autonomous and distributed tasking. Control logic design based on finite state automaton (FSA) model, integrating the four modes of operations, i.e., takeoff mode, fly-to-AO (area of operation) mode, search mode and t...
متن کاملCalculation and Identification of the Aerodynamic Parameters for Small-Scaled Fixed-Wing UAVs
The establishment of the Aircraft Dynamic Model(ADM) constitutes the prerequisite for the design of the navigation and control system, but the aerodynamic parameters in the model could not be readily obtained especially for small-scaled fixed-wing UAVs. In this paper, the procedure of computing the aerodynamic parameters is developed. All the longitudinal and lateral aerodynamic derivatives are...
متن کاملImplementation and Testing of a Backstepping Controller Autopilot for Fixed-wing UAVs
The ability of backstepping controllers to deal with nonlinearities make this technique a suitable candidate for the control of small fixed-wing Unmanned Aerial Vehicles (UAVs). The authors have already proposed a comprehensive approach combining backstepping with PID controllers for simultaneous longitudinal and latero-directional control of fixed-wing UAVs, achieving good performance even wit...
متن کامل