A stability perspective of bioinspired unmanned aerial vehicles performing optimal dynamic soaring
A stability perspective of bioinspired unmanned aerial vehicles performing optimal dynamic soaring
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DOI：
10.1088/1748-3190/ac1918
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发表时间：
2021-11-01
影响因子：
3.4
通讯作者：
Ul Islam, Tauqeer
中科院分区：
文献类型：
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作者：
Mir, Imran;Eisa, Sameh A.;Ul Islam, Tauqeer
动态翱翔现象，如翱翔的鸟类所展示的，长期以来一直是航空航天和控制工程师的生物灵感。如果这种令人着迷的现象，使翱翔的鸟类利用风切变进行几乎无动力的飞行，可以被无人机（UAV）模仿，那么在技术和经济上提高UAV性能的潜力是巨大的。虽然已经有相当多的研究涵盖了不同的无人机执行动态飙升的建模，优化，控制和仿真方面，有很少或没有结论性的工作，分析这种无人机在飙升轨道的稳定性。在本文中，我们提出了一个全面的框架，用于确定飙升的无人机的稳定性，利用线性（Floquet为基础）和非线性（收缩理论为基础）的技术。Floquet稳定性分析是不确定的，这导致了使用非线性收缩公式对一个实际的非线性固定翼无人机进行动态滑翔的稳定性进行确定性评估。此外，参数变化沿着与数值模拟进行，以确定实际的非线性系统的响应时，从名义运动在本文中研究的扰动。分析和仿真结果表明，当无人机偏离其标称轨迹并沿非期望轨迹运动时，系统具有不稳定性，由此我们得出结论，在文献中，无人机以最佳方式进行动态滑翔以降低风切变要求是固有不稳定的。这项工作的结果表明，模仿动态飙升的无人机将需要仔细调查的跟踪和监管控制，需要实施。
The phenomenon of dynamic soaring, as exhibited by soaring birds, has long been a biological inspiration for aerospace and control engineers. If this fascinating phenomenon, which allows soaring birds to perform almost unpowered flight using wind shear, can be mimicked by unmanned aerial vehicles (UAVs), then there is substantial potential for technological and economic enhancement of UAV performance. Although there has been a considerable amount of research covering the modeling, optimization, control and simulation aspects of different UAVs performing dynamic soaring, there is little to no conclusive work analyzing the stability of such UAVs in soaring orbits. In this paper we present a comprehensive framework for determining the stability of soaring UAVs utilizing both linear (Floquet-based) and nonlinear (contraction theory-based) techniques. Floquet stability analysis was inconclusive, which led to the use of a nonlinear contraction formulation to reach a conclusive stability assessment for an actual nonlinear fixed-wing UAV performing dynamic soaring. Furthermore, parametric variation along with numerical simulations were conducted to ascertain the response of the actual nonlinear system when perturbed from the nominal motion studied in this paper. The analysis and simulations revealed that the system possesses instability as the UAV motion diverges from its nominal trajectory and follows an undesirable path. From this result we conclude, for the first time in the literature as far as we are aware, that UAVs performing dynamic soaring in an optimal way to reduce wind shear requirements are inherently unstable. The results of this work suggest that mimicking of dynamic soaring by UAVs will require careful investigation of tracking and regulatory controls that need to be implemented.