Filtered dynamic inversion for altitude control of fixed-wing unmanned air vehicles
Filtered dynamic inversion for altitude control of fixed-wing unmanned air vehicles
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DOI：
10.1016/j.ast.2016.04.013
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发表时间：
2016-07-01
影响因子：
5.6
通讯作者：
Hoagg, Jesse B.
中科院分区：
文献类型：
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作者：
Mullen, Jon;Bailey, Sean C. C.;Hoagg, Jesse B.
仪器化无人驾驶飞行器（UAV）代表了进行大气科学的新方法，特别是在空气湍流的大气边界层内。然而，使用自主无人机进行空中测量需要主动控制方法，能够遵循高度命令，尽管未知和湍流干扰的空气。滤波动态逆（FDI）是一种具有理想的命令跟随和干扰抑制特性的控制方法。外国直接投资需要有限的模型信息，因此对无人机动力学建模中出现的参数不确定性具有鲁棒性。在本文中，外国直接投资的高度飞行控制系统的自主固定翼无人机的实现。以某小型固定翼无人机的非线性动力学模型为例，对控制系统进行了仿真验证。该控制系统还实施和验证在飞行实验中与湍流风条件。实验结果表明，与经典的（例如，比例积分）飞行控制系统。特别是，实验数据表明，与FDI的高度和俯仰指令跟随误差的平均功率小于比例积分控制。(C)2016 Elsevier Masson SAS。All rights reserved.
Instrumented unmanned air vehicles (UAVs) represent a new way of conducting atmospheric science, particularly within the atmospheric boundary layer where the air is turbulent. However, using autonomous UAVs for airborne measurement requires active control methods capable of following altitude commands despite unknown and turbulent disturbances to the air. Filtered dynamic inversion (FDI) is a control method with desirable command-following and disturbance-rejection properties for this application. FDI requires limited model information and is thus robust to parametric uncertainty, which arises in modeling UAV dynamics. In this paper, FDI is implemented in an altitude-flight-control system for an autonomous fixed-wing UAV. The control system is validated in simulation with a nonlinear dynamic model of a small fixed-wing UAV. The control system is also implemented and validated in flight experiments with turbulent wind conditions. Experimental results show that FDI yields improved altitude and pitch command following as compared to a classical (e.g., proportional-integral) flight-control system. In particular, experimental data demonstrate that the average power of the altitude and pitch command following errors with FDI is smaller than those with proportional-integral control. (C) 2016 Elsevier Masson SAS. All rights reserved.