Control of infrastructure inspection aircraft vertical dynamics in the presence of thermal disturbances
Techakesari, Onvaree, Bruggemann, Troy S., & Ford, Jason J. (2013) Control of infrastructure inspection aircraft vertical dynamics in the presence of thermal disturbances. In 3rd Australian Control Conference (AUCC), IEEE, Perth, Australia, pp. 34-40.
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The low-altitude aircraft inspection of powerlines, or other linear infrastructure networks, is emerging as an important application requiring specialised control technologies. Despite some recent advances in automated control related to this application, control of the underactuated aircraft vertical dynamics has not been completely achieved, especially in the presence of thermal disturbances. Rejection of thermal disturbances represents a key challenge to the control of inspection aircraft due to the underactuated nature of the dynamics and specified speed, altitude, and pitch constraints. This paper proposes a new vertical controller consisting of a backstepping elevator controller with feedforward-feedback throttle controller. The performance of our proposed approach is evaluated against two existing candidate controllers.
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|Item Type:||Conference Paper|
|Keywords:||nonlinear control, UAV, aerial inspection, autonomous control, thermal, backstepping control, total energy control|
|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 2013 Engineers Australia|
|Deposited On:||31 Oct 2013 23:13|
|Last Modified:||09 Apr 2014 03:44|
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