Gliders can climb to substantial altitudes without employing any on-board energy resources but using proper piloting skills to utilize rising air currents called thermals. Recent experiments on small Unmanned Aerial Vehicles (UAVs) indicate a significant potential to increase both the flight velocity and the range of gliders by means of such maneuvers. In these experiments the velocity to approach a thermal has been recognized as a critical performance factor, and is chosen as the controlled variable. Accurate longitudinal controllers are required to track the optimal flight trajectories generated using path planning algorithms. These controllers are challenged by the presence of uncertain and time-varying aircraft dynamics, gust disturbances, and control actuator limitations. With a broader objective of utilizing thermals to optimize the flight performance of autonomous UAVs, we focus on handling elevator constraints imposed on an uncertain aircraft model whose parameters are estimated online. We implement an adaptive control design with two different add-on schemes to address both the actuator magnitude and rate constraints. The first approach is based on an anti-windup compensator, whereas the second one uses the reference governor. The two constrained control methodologies are compared through simulation results.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Constrained Control of UAVs Using Adaptive Anti-windup Compensation and Reference Governors


    Weitere Titelangaben:

    Sae Technical Papers


    Beteiligte:

    Kongress:

    Aerospace Technology Conference and Exposition ; 2009



    Erscheinungsdatum :

    2009-11-10




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




    Tire windup compensation

    LAVOIE ERICK MICHAEL | Europäisches Patentamt | 2016

    Freier Zugriff

    Combined Reference Governor and Anti-Windup Design for Constrained Hypersonic Vehicles Models

    Zinnecker, Alicia / Serrani, Andrea / Bolender, Michael et al. | AIAA | 2009


    Combined Reference Governor and Anti-Windup Design for Constrained Hypersonic Vehicles Models

    Zinnecker, A. / Serrani, A. / Bolender, M. et al. | British Library Conference Proceedings | 2009


    Actuator saturation and anti-windup compensation in event-triggered control

    Kiener, Georg Alexander / Lehmann, Daniel / Johansson, Karl Henrik | BASE | 2014

    Freier Zugriff

    Event-triggered PI control : Saturating actuators and anti-windup compensation

    Lehmann, Daniel / Kiener, Georg Alexander / Johansson, Karl Henrik | BASE | 2012

    Freier Zugriff