| Autor: |
Erlend M. Coates, Thor I. Fossen |
| Jazyk: |
angličtina |
| Rok vydání: |
2021 |
| Předmět: |
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| Zdroj: |
Applied Sciences, Vol 11, Iss 7, p 3147 (2021) |
| Druh dokumentu: |
article |
| ISSN: |
2076-3417 |
| DOI: |
10.3390/app11073147 |
| Popis: |
This paper presents nonlinear, singularity-free autopilot designs for multivariable reduced-attitude control of fixed-wing aircraft. To control roll and pitch angles, we employ vector coordinates constrained to the unit two-sphere and that are independent of the yaw/heading angle. The angular velocity projected onto this vector is enforced to satisfy the coordinated-turn equation. We exploit model structure in the design and prove almost global asymptotic stability using Lyapunov-based tools. Slowly-varying aerodynamic disturbances are compensated for using adaptive backstepping. To emphasize the practical application of our result, we also establish the ultimate boundedness of the solutions under a simplified controller that only depends on rough estimates of the control-effectiveness matrix. The controller design can be used with state-of-the-art guidance systems for fixed-wing unmanned aerial vehicles (UAVs) and is implemented in the open-source autopilot ArduPilot for validation through realistic software-in-the-loop (SITL) simulations. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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