Modelling and adaptive backstepping control for TX-1570 UAV path tracking
| Autor: | Fatiha Nejjari, Julian Cayero, Bernardo Morcego |
|---|---|
| Přispěvatelé: | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial, Universitat Politècnica de Catalunya. SIC - Sistemes Intel·ligents de Control, Universitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control |
| Rok vydání: | 2014 |
| Předmět: |
Automatic control
Lyapunov function Engineering Adaptive control Informàtica::Automàtica i control [Àrees temàtiques de la UPC] business.industry Avions no tripulats Aerospace Engineering Control engineering Aerodynamics Propulsion Control automàtic symbols.namesake Control theory Robustness (computer science) Backstepping Convergence (routing) symbols UAV Modelling Backstepping control Adaptive control business Drone aircraft |
| Zdroj: | Recercat. Dipósit de la Recerca de Catalunya Universitat Jaume I UPCommons. Portal del coneixement obert de la UPC Universitat Politècnica de Catalunya (UPC) |
| ISSN: | 1270-9638 |
| DOI: | 10.1016/j.ast.2014.09.022 |
| Popis: | The methodology to design an aircraft longitudinal path-tracking controller is shown in this paper. First a thorough modelling process which involves the estimation of the aerodynamic and propulsion system structure and parameters is carried out. Next, the Lyapunov based backstepping methodology is applied to design a non-linear controller for the aircraft longitudinal dynamics. The used procedure ensures the convergence of the system to a reference and the robustness in presence of modelling errors. The derived controller delivers manipulated inputs for a real plant and takes into account subsystem and model constraints. Finally, the performance of the controlled system to track a realistic path is demonstrated in front of parameter uncertainty, unmodelled dynamics and adverse initial conditions. |
| Databáze: | OpenAIRE |
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