期刊
IEEE-ASME TRANSACTIONS ON MECHATRONICS
卷 27, 期 5, 页码 4045-4056出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2022.3144459
关键词
Adaptive control; autopilot; fixed-wing unmanned aerial vehical (UAV)
类别
资金
- Natural Science Foundation of China [62073074]
- Double Innovation Plan [4207012004]
- Special Funding for Overseas [6207011901]
- Drone-based Aerial Manipulation with Human-in-the-loop, IHFC, India
The study introduces a new adaptive autopilot design to effectively address unmodeled effects and uncertainties of fixed-wing UAVs during flight, with hardware-in-the-loop tests validating the effectiveness of the control design.
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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