A gust-attenuation controller for fixed-wing UAVs during collision avoidance course
Yang, Xilin, Mejias, Luis, & Molloy, Timothy (2012) A gust-attenuation controller for fixed-wing UAVs during collision avoidance course. In Digital Proceedings of the 2012 International Conference on Unmanned Aircraft Systems (ICUAS'12), Sheraton Philadelphia University City Hotel, Philadelphia, PA. (In Press)
This paper presents a nonlinear gust-attenuation controller to stabilize velocities, attitudes and angular rates of a fixed-wing unmanned aerial vehicle (UAV) in the presence of wind gusts. The proposed controller aims to achieve a steady-state flight condition such that the host UAV can avoid airspace collision with other UAVs during the cruise flight. Based on the typical UAV model capturing flight aerodynamics, a nonlinear Hinf controller is developed with rapid response property in consideration of actuator constraints. Simulations are conducted for the Shadow UAV to verify performance of the proposed controller. Comparative studies with the proportional-integral derivative (PID) controllers demonstrate that the proposed controller exhibits great performance improvement in a gusty environment, making it suitable for integration into the design of flight control systems for cruise flight with safety guarantees.
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|Item Type:||Conference Paper|
|Keywords:||Collision Avoidance, UAS, UAV, sense and avoid|
|Subjects:||Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > AEROSPACE ENGINEERING (090100) > Aircraft Performance and Flight Control Systems (090104)|
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600) > Control Systems Robotics and Automation (090602)
|Divisions:||Current > Research Centres > Australian Research Centre for Aerospace Automation|
Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2012 [please consult the author]|
|Deposited On:||04 Jun 2012 09:16|
|Last Modified:||22 May 2013 17:21|
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