Globally Stable Attitude Control of a Fixed-Wing Rudderless UAV Using Subspace Projection
Globally Stable Attitude Control of a Fixed-Wing Rudderless UAV Using Subspace Projection
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DOI：
10.1109/lra.2019.2895889
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发表时间：
2019-04
影响因子：
5.2
通讯作者：
Y. Mitikiri;K. Mohseni
中科院分区：
文献类型：
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作者：
Y. Mitikiri;K. Mohseni
这封信将最近关于全驱动飞行器的全局渐近稳定非线性姿态控制的工作扩展到欠驱动飞行器，特别是无舵固定翼飞机。先前的工作使用四元数姿态表示和Lyapunov理论建立了从任意初始条件开始的全驱动固定翼飞机姿态跟踪的全局渐近稳定性。然而，许多小型无人机在传感器和执行器资源方面受到严重限制。一种常见的情况是飞行翼配置有一对副翼，既可以作为升降舵，也可以作为副翼。虽然不可能在三维（3-D）姿态空间中跟踪任意姿态，但我们表明仍然可以跟踪单位四元数空间的2-D子空间。通过求解四元数姿态公式中的一个优化问题，实现了期望姿态在二维子空间上的投影。仿真结果表明，所设计的控制器具有良好的性能。
This letter extends recent work on globally asymptotically stable nonlinear attitude control of fully actuated vehicles to underactuated vehicles, specifically, a rudderless fixed-wing airplane. Previous work uses a quaternion attitude representation and Lyapunov theory to establish global asymptotic stability for attitude tracking in a fully actuated fixed-wing airplane, beginning from arbitrary initial conditions. Many small unmanned aerial vehicles are, however, heavily constrained with respect to sensor and actuator resources. A common situation is a flying wing configuration with a pair of elevons that serve the purpose of both the elevator as well as the ailerons. While it is not possible to track an arbitrary attitude in the three-dimensional (3-D) attitude space, we show that it is still possible to track a 2-D subspace of the unit quaternion space. Projecting a desired attitude onto a 2-D subspace is achieved by solving an optimization problem in the quaternion attitude formulation. The resulting controller is verified using simulations that demonstrate satisfactory performance.