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.

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Abstract

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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ID Code: 71081
Item Type: Conference Paper
Refereed: Yes
Keywords: Actuators, Aircraft control, Autonomous aerial vehicles, Control system synthesis, Numerical analysis, Optimisation
ISBN: 9781424492459
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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