A Flight control scheme to improve position tracking performance of rotary-wing UASs
Yang, Xilin, Mejias, Luis, Garratt, Matt, & Hemanshu, Pota (2013) A Flight control scheme to improve position tracking performance of rotary-wing UASs. In IFAC Symposium on Intelligent Autonomous Vehicles, International Federation of Automatic Control (IFAC), Gold Coast, Qld..
This paper outlines an innovative and feasible flight control scheme for a rotary-wing unmanned aerial system (RUAS) with guaranteed safety and reliable flight quality in a gusty environment. The proposed control methodology aims to increase gust-attenuation capability of a RUAS to ensure improved flight performance when strong gusts occur. Based on the design of an effective estimator, an altitude controller is firstly constructed to synchronously compensate for fluctuations of the main rotor thrust which might lead to crashes in a gusty environment. Afterwards, a nonlinear state feedback controller is proposed to stabilize horizontal positions of the RUAS with gust-attenuation property. Performance of the proposed control framework is evaluated using parameters of a Vario XLC helicopter and high-fidelity simulations show that the proposed controllers can effectively reduce side-effect of gusts and demonstrate performance improvement when compared with the proportional-integral-derivative (PID) controllers.
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|Item Type:||Conference Paper|
|Keywords:||UAS, flight control, feed-forward control, gust-attenuation, PD control, rotary wing UAVs|
|Subjects:||Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > AEROSPACE ENGINEERING (090100) > Aircraft Performance and Flight Control Systems (090104)|
|Divisions:||Current > Research Centres > Australian Research Centre for Aerospace Automation
Current > Schools > School of Electrical Engineering & Computer Science
Past > QUT Faculties & Divisions > Faculty of Science and Technology
|Copyright Owner:||Copyright 2013 International Federation of Automatic Control|
|Deposited On:||08 Jul 2013 03:35|
|Last Modified:||27 Aug 2013 07:06|
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