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This article focuses on the nonlinear control issue of miniature Unmanned Aerial Vehicles(UAVs). A complete nonlinear model for miniature fixed-wing UAVs is structured and simplified as an affine nonlinear system aiming at the fast dynamic loop of key attitude control. We adopt the state feedback method to dynamic inversion controller design. To compensate the external disturbance and modeling error,...
A composite control treatment based on sliding mode is presented to a hypersonic nonlinear longitudinal dynamics. The aircraft model is developed with a unique integrated airframe-propulsion configuration which arise couplings between propulsion and aerodynamics and it is also a non-minimum phase systems with zero-dynamics. All of these result in intractable nonlinear system for control design. In...
A terminal sliding mode controller is designed for a generic air-breathing hypersonic vehicles (AHVs). The model of AHVs is nonlinear, and includes uncertain parameters and intricate coupling between the engine and flight dynamics. An affine form of the longitudinal model is obtained by input/output linearization, and then a controller is designed by using terminal sliding mode method. The terminal...
The hypersonic flight vehicle is powered by ram jet engine whose work has high requirements for its attitude and flight conditions. For example, the control of its angle of attack and sideslip angle must be precise to a certain degree; its flight Mach number and dynamic pressure must be big enough. This paper explores the aerodynamic characteristics such as the variations of drag coefficient, lift...
The flying mechanism of birds and big insects, especially the rules of wings motion in flight, are investigated, and some details of mechanical frame are also considered. The entire dynamic model of flight attitude of flapping wing micro aerial vehicle (FWMAV) is developed. The design of attitude controller is challenging due to the complexity of the flight process, and the heavy difficulty includes...
In consideration of maneuvering spacecraft, the uncertainty of thrust acceleration will cause enormous error to model and track the accelerating motion, it's reasonable to think that the measurements mainly reflect the uncertainty of the thrust acceleration. This paper focuses on modeling and building on-line filter to identify the continuous thrust acceleration to compensate the uncertainty of the...
The paper studies the problem of control for the attitude of aerocrafts with uncertainties in the inertial parameters and uncertainties in pneumatic torque parameters based on the rigid-body dynamics. For both of attitude control and horizontal movement control, the H2/H∞ controllers are designed. A numerical example is given to show the validity of the designed controller and the better robustness...
A universal improved nonlinear longitudinal model of hypersonic developed by Langley lab is adopted. For the I/O linearizing model, a sliding mode controller is designed. This method can solve the uncertainty problem and insensitive to disturbance of outside. The index approach law used to drive the sliding mode to reach the sliding surface is adopted to eliminate the quiver. The simulation for tracking...
In flight control, control allocation is used to distribute the total control command to each actuator when the number of actuators exceeds the number of controlled variables. A new optimal control allocation method based on nonlinear compensation was proposed in this paper. The quadratic term and mutual-interference effects were introduced into control effectiveness matrix. The linear combination...
This paper investigates the problem of estimating parameters in a state-space helicopter dynamical model for helicopter controller design and evaluation. Two methods, PEM (the prediction error method) and RBPF (the Rao- Blackwellized particle filter-based method), are presented in the paper. Computer simulations are carried out to assess and compare the performance of the two methods with different...
For ideal condition, applied the same brake instruction signals to the aircraft right and left brake devices, the main wheels brake synchronously, and the aircraft doesn't yaw. Whereas considering the side wind, the asymmetry of brake devices and the differences between tire and course coefficients, the aircraft may yaw. By analyzing the causations of aircraft deviation from the course during taxiing,...
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