Modelling and adaptive backstepping control for TX-1570 UAV pathtracking
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...
| Autores: | , , |
|---|---|
| Tipo de recurso: | artículo |
| Fecha de publicación: | 2014 |
| País: | España |
| Institución: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/25004 |
| Acceso en línea: | https://hdl.handle.net/2117/25004 https://dx.doi.org/10.1016/j.ast.2014.09.022 |
| Access Level: | acceso abierto |
| Palabra clave: | Automatic control Drone aircraft UAV Modelling Backstepping control Adaptive control Avions no tripulats Control automàtic Àrees temàtiques de la UPC::Informàtica::Automàtica i control |
| Sumario: | 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. |
|---|