Effective design of autopilots for fixed-wing unmanned aerial vehicles (UAVs) is still a great challenge, due to unmodeled effects and uncertainties that these vehicles exhibit during flight. Unmodeled effects and uncertainties comprise longitudinal/lateral cross-couplings, as well as poor knowledge of equilibrium points (trimming points) of the UAV dynamics. The main contribution of this article is a new adaptive autopilot design, based on uncertain Euler-Lagrange dynamics of the UAV and where the control can explicitly take into account under-actuation in the dynamics, reduced structural knowledge of cross-couplings and trimming points. This system uncertainty is handled via appropriately designed adaptive laws: stability of the controlled UAV is analyzed. Hardware-in-the-loop tests, comparisons with an Ardupilot autopilot and with a robustified autopilot validate the effectiveness of the control design, even in the presence of strong saturation of the UAV actuators.
An Underactuated Control System Design for Adaptive Autopilot of Fixed-Wing Drones
2022-10-05
Baldi , S , Roy , S , Yang , K & Liu , D 2022 , ' An Underactuated Control System Design for Adaptive Autopilot of Fixed-Wing Drones ' , IEEE/ASME Transactions on Mechatronics , vol. 27 , no. 5 , pp. 4045 - 4056 . https://doi.org/10.1109/TMECH.2022.3144459
Article (Journal)
Electronic Resource
English
DDC: | 629 |
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