Backstepping and dynamic inversion combined controller for auto-landing of fixed wing UAVs
Backstepping and dynamic inversion combined controller for auto-landing of fixed wing UAVs
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DOI：
10.1016/j.ast.2019.105526
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发表时间：
2020
影响因子：
5.6
通讯作者：
M. Lungu
中科院分区：
文献类型：
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作者：
M. Lungu
无人机具有重量轻、受外界干扰、纵横向耦合强等特点，是无人机着陆的一大难题。介绍了一种新型固定翼无人机在阵风和测量传感器误差作用下的自动着陆系统的设计。利用飞机的非线性模型，提出了一种新的控制方法。它将反推方法和动态逆方法相结合，直接控制无人机的横摇和偏航角、飞行高度和速度(纵面)，确保在所有三个着陆阶段都保持恒定的前进速度。作为自动着陆系统的一部分，利用干扰观测器估计阵风和无人机速度的三个分量。这种新型控制结构是由软件实现的，并通过复杂的数值仿真进行了验证。所获得的特性证明了新的自动着陆系统的有限时间稳定性和鲁棒性，即使在着陆时受到阵风和传感器误差的影响。
Landing of unmanned aerial vehicles (UAVs) is a difficult problem because of their light weight, external disturbances, and strong coupling between the longitudinal and lateral modes. This paper presents the design of a new automatic landing system for fixed wing UAVs subject to wind gusts and errors of the measurement sensors. Using the airplane nonlinear model, a new control approach is proposed. It unifies the backstepping and the dynamic inversion methods to directly control the roll and the yaw angles of the UAV, the flight altitude and the speed (longitudinal plane) by ensuring a constant forward velocity during all the three landing stages. The wind gusts and the three components of the UAV velocity are estimated with a disturbance observer, as part of the auto-landing system. The novel control architecture is software implemented and validated by complex numerical simulations. The obtained characteristics prove the finite time stability and robustness of the new automatic landing system even in the case of landing affected by wind gusts and errors of the sensors.