The paper focuses on the control of a small fixed-wing unmanned aerial vehicle (UAV) along trajectories. The trajectories are generated in real-time from a library of pre-specified motion primitives. Two concatenated primitive trajectories are considered: one formed from seven primitives and exhibiting a figure-8 geometric path and another composed of a Split-S maneuver that settles into a level-turn trim trajectory. Switched control systems stemming from l2-induced norm synthesis approaches are designed for discrete-time linearized models of the nonlinear UAV system. These controllers are analyzed based on simulations in a realistic operational environment and are further implemented on the physical UAV.
Optimal control of a small fixed-wing UAV about concatenated trajectories
Control Engineering Practice ; 40 ; 113-132
2015
20 Seiten, 42 Quellen
Aufsatz (Zeitschrift)
Englisch
OPTIMAL TUNING FOR ROBUST CONTROL OF A SMALL FIXED-WING UAV
TIBKAT | 2021
|OPTIMAL TUNING FOR ROBUST CONTROL OF A SMALL FIXED-WING UAV
TIBKAT | 2021
|Stability control of small fixed-wing UAV
IEEE | 2014
|