自动驾驶仪
控制理论(社会学)
修边
空气动力学
欠驱动
稳定性导数
控制器(灌溉)
执行机构
计算机科学
飞行动力学
控制工程
无人机
理论(学习稳定性)
固定翼
内环
自适应控制
飞行操纵面
工程类
控制(管理)
翼
航空航天工程
人工智能
操作系统
机器学习
生物
遗传学
农学
作者
Simone Baldi,S. Roy,Kang Yang,Di Liu
出处
期刊:IEEE-ASME Transactions on Mechatronics
[Institute of Electrical and Electronics Engineers]
日期:2022-10-01
卷期号:27 (5): 4045-4056
被引量:14
标识
DOI:10.1109/tmech.2022.3144459
摘要
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.
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