| Popis: |
The paper deals with the problem of modeling and control of fixed wing UAVs. Aircraft dynamic models were presented in body, stabilization-axes and wind-axes coordinate systems for control purposes. A standard integral backstepping control problem was formulated and solved that guarantees closed loop stability. Integral component in the control can help to decrease the disturbance effects and parameter varying. The method guarantees closed loop stability of the composite 3D attitude system also for varying reference signals. A hierarchical control strategy was suggested with high level height, velocity and normal acceleration control that supplies the reference signals for the low level attitude control system. Path design primitives were elaborated for motion sections that can be connected and smoothed. The time needed for the sections can be prescribed. |
