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This paper presents the control during take-off, transition and straight and level flight of a convertible aircraft based on Gain-Scheduling technique. The vehicle motion equations are deduced using Newton-Euler formulation. The lift, drag and pitch moment coefficients are modeled for angle of attack variations between one hundred eighty degrees and minus one hundred eighty degrees based on preliminary...
This paper is about a control design for the lateral-directional dynamics of a fixed wing aircraft. The objective is to command the lateral-directional dynamics to the equilibrium point that corresponds to a coordinated turn. The proposed control is inspired by the total energy control system technique; with the objective of mixing the ailerons and the rudder inputs. The control law is developed directly...
This paper presents a trajectory tracking controller for multi-rotor UAVs to improve their flight performance in the presence of various uncertainties. The proposed tracking system consists of a velocity guidance law based on relative distance and an L1 adaptive augmentation loop for tracking velocity commands. In the proposed structure, the desired velocity generated by the guidance law is the reference...
Aircraft control system is designed to provide adequate stability during transition flight of a quad-tilt wing (QTW) UAV. The dynamic inversion method, which is a linearization method without an approximation algorithm, is applied to a control problem of the UAV, because of strong nonlinearity of its dynamical behavior. The validity of the proposed control system is verified through numerical simulation...
We propose the structured two-loop flight control system of a novel tandem ducted fan vehicle for near hover flight in consideration of actuator saturations on its dynamics. The prescribed controller architecture consists of static output feedback inner loop and four PI outer loop, which is a desirable and intuitive structure for practical implementation. The effect of a limited control activity on...
Optimizing energy consumption of Micro Aerial Vehicles is one of several problems that remains to be solved in the domain of UAVs. In a recent work, a novel quadrotor was introduced that was able, when possible, to roll on the ground thanks to a tilting propeller and caster wheels. In the following work, we build upon this idea with a trirotor helicopter where all the rotors are independently tilting...
This paper addresses the problem of designing and experimentally validating a nonlinear disturbance observer, focus on the attitude regulation control problem of a quad-rotor in presence of external disturbances. The proposed nonlinear observer scheme is based on the angular velocity measurements and the control inputs in order to compensate external disturbances. The stability analysis of the nonlinear...
This paper presents a new intelligent agent framework that combines rational decision making with abstractions of sensing and actions for unmanned aerial vehicle (UAV) control systems. The objective of the new framework is to provide self tuning and more adaptability to an onboard autopilot. This is achieved through controlloer switching and tuning by the agent in face of dynamic changes affecting...
In this paper, fuzzy logic control method is used to control the formation flight of fixed wing aircraft in leader-follower form. A two loop control structure is used. In the inner loop, aircraft flight is controlled using the State Dependent Riccati Equation (SDRE) method. In the outer loop, fuzzy logic control approach is used to control the formation guidance. The success of the approach is demonstrated...
The Kalman filter is an algorithm used for data estimation and sensor fusion. It has been used for decades in several projects, especially in the aerospace industry, being the Apollo program for lunar explorations one of the first to apply the filter. As a way to analyze the practical Kalman filter application in real situations, this paper shows its use in the estimation of the horizontal attitude...
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