A low-complexity flight controller for Unmanned Aircraft Systems with constrained control allocation
de Lamberterie, Pierre, Perez, Tristan, & Donaire, Alejandro (2011) A low-complexity flight controller for Unmanned Aircraft Systems with constrained control allocation. In Nesic, Dragan (Ed.) Proceedings of the 2011 Australian Control Conference (AUCC), IEEE, Melbourne, VIC, pp. 284-289.
In this paper, we propose a framework for joint allocation and constrained control design of flight controllers for Unmanned Aircraft Systems (UAS). The actuator configuration is used to map actuator constraint set into the space of the aircraft generalised forces. By constraining the demanded generalised forces, we ensure that the allocation problem is always feasible; and therefore, it can be solved without constraints. This leads to an allocation problem that does not require on-line numerical optimisation. Furthermore, since the controller handles the constraints, and there is no need to implement heuristics to inform the controller about actuator saturation. The latter is fundamental for avoiding Pilot Induced Oscillations (PIO) in remotely operated UAS due to the rate limit on the aircraft control surfaces.
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|Item Type:||Conference Paper|
|Keywords:||Actuators, Aircraft control, Autonomous aerial vehicles, Control system synthesis, Numerical analysis, Optimisation|
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2011 IEEE|
|Deposited On:||07 May 2014 23:32|
|Last Modified:||11 Jun 2014 04:04|
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