Globally Stable Attitude Control of a Fixed-Wing Rudderless UAV Using Subspace Projection
| Autor: | Kamran Mohseni, Yujendra Mitikiri |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
Lyapunov function
0209 industrial biotechnology Control and Optimization Elevator Computer science Biomedical Engineering Wing configuration 02 engineering and technology Attitude control Vehicle dynamics symbols.namesake 020901 industrial engineering & automation 0203 mechanical engineering Artificial Intelligence Control theory Quaternion 020301 aerospace & aeronautics Underactuation Mechanical Engineering Aerodynamics Computer Science Applications Human-Computer Interaction Nonlinear system Control and Systems Engineering symbols Computer Vision and Pattern Recognition Actuator Subspace topology |
| Zdroj: | IEEE Robotics and Automation Letters. 4:1395-1401 |
| ISSN: | 2377-3774 |
| DOI: | 10.1109/lra.2019.2895889 |
| Popis: | This letter extends recent work on globally asymptotically stable nonlinear attitude control of fully actuated vehicles to underactuated vehicles, specifically, a rudderless fixed-wing airplane. Previous work uses a quaternion attitude representation and Lyapunov theory to establish global asymptotic stability for attitude tracking in a fully actuated fixed-wing airplane, beginning from arbitrary initial conditions. Many small unmanned aerial vehicles are, however, heavily constrained with respect to sensor and actuator resources. A common situation is a flying wing configuration with a pair of elevons that serve the purpose of both the elevator as well as the ailerons. While it is not possible to track an arbitrary attitude in the three-dimensional (3-D) attitude space, we show that it is still possible to track a 2-D subspace of the unit quaternion space. Projecting a desired attitude onto a 2-D subspace is achieved by solving an optimization problem in the quaternion attitude formulation. The resulting controller is verified using simulations that demonstrate satisfactory performance. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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