Auto-landing of fixed wing unmanned aerial vehicles using the backstepping control

Lungu, Mihai

doi:10.1016/j.isatra.2019.05.019

Cited by 64 publications

(20 citation statements)

References 35 publications

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“…Equation 9and equation (10) provide the relationship between force coefficients and instantaneous angle of attack, which is obtained from experimental studies. The detailed experiment methods and data fitting methods can be found in [24].…”

Section: B Aerodynamic Modeling Of the Flapping Wingmentioning

confidence: 99%

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Active Disturbance Rejection Attitude Control for a Bird-Like Flapping Wing Micro Air Vehicle During Automatic Landing

2020

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To solve the attitude control problem of bird-like flapping wing micro air vehicles (FWMAVs) during automatic landing, an active disturbance rejection control (ADRC) architecture is proposed in this paper. This control scheme takes into account the attitude control of flapping , transition and gliding modes in the process of automatic landing. To verify the control effect, the aerodynamic estimation method of the flapping wing based on quasi-steady theory and the dynamics of an FWMAV in Lagrangian form are applied in the simulation. The proposed control architecture consists of two independent ADRC controllers to stabilize the attitude of the pitch and roll channels. The system disturbance and the coupling effects between channels are estimated by an extended state observer (ESO) and compensated in real time in the control output. The convergence of the ESO and ADRC is proven. Simulation results show that even if the aircraft is in different flight modes, the ADRC controller can track the target trajectory quickly and accurately. Then, to realize automatic landing in a real environment, a simplified two-stage landing trajectory is designed. A landing test is carried out on this basis. The test results show that ADRC can not only stabilize the flight attitude in flapping mode but also obtain a satisfactory control accuracy and convergence speed when the aircraft is in the transition and gliding modes, confirming its usefulness in automatic landing. INDEX TERMS flapping wing micro air vehicle, active disturbance rejection control, attitude control automatic landing

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Section: B Aerodynamic Modeling Of the Flapping Wingmentioning

confidence: 99%

“…Numerical simulation results showed satisfactory performance. Lungu [10] designed a backstepping and dynamic inversion-based landing system for the flight control of a fixed-wing unmanned aerial vehicle. A nonlinear disturbance observer is introduced to provide an estimation of the wind shears, gusts and atmospheric turbulence.…”

Section: Introductionmentioning

confidence: 99%

Active Disturbance Rejection Attitude Control for a Bird-Like Flapping Wing Micro Air Vehicle During Automatic Landing

2020

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“…Sartori et al designed a backstepping controller for fixed-wing UAVs on micro-controller and experimental data logged, endorsing the applicability controller [25]. Lungu et al [26] presented a backstepping and dynamic inverse-based automatic landing system for fixed-wing UAV with wind gusts and atmospheric disturbances.…”

Section: Introductionmentioning

confidence: 99%

Disturbance Observer-Based Backstepping Control of Tail-Sitter UAVs

et al. 2021

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The application scope of unmanned aerial vehicles (UAVs) is increasing along with commensurate advancements in performance. The hybrid quadrotor vertical takeoff and landing (VTOL) UAV has the benefits of both rotary-wing aircraft and fixed-wing aircraft. However, the vehicle requires a robust controller for takeoff, landing, transition, and hovering modes because the aerodynamic parameters differ in those modes. We consider a nonlinear observer-based backstepping controller in the control design and provide stability analysis for handling parameter variations and external disturbances. We carry out simulations in MATLAB Simulink which show that the nonlinear observer contributes more to robustness and overall closed-loop stability, considering external disturbances in takeoff, hovering and landing phases. The backstepping controller is capable of decent trajectory-tracking during the transition from hovering to level flight and vice versa with nominal altitude drop.

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“…Nevertheless, due to its inherent limitations as a linear control method, this control law is not appropriate to apply to highly nonlinear systems, and it is quite vulnerable in its control of the system to external disturbances or internal uncertainty [4]. As an alternative, various nonlinear control theories, such as sliding mode control (SMC) [5], backstepping control [6], nonlinear model predictive control [7], and adaptive control [8], have been studied in order to improve the maneuverability of UAVs.…”

Section: Introductionmentioning

confidence: 99%

Angular Rate Constrained Sliding Mode Control of UAVs for Path Following

2021

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In this work, a sliding-mode-based attitude controller constrained with the angular rate for unmanned aerial vehicles (UAVs) is addressed to withstand conditions below the allowable maximum angular velocity of UAVs in order to avoid the possibility of structural failure and to operate UAVs safely. The sliding mode controller suggested in this work defines a new sliding surface, inherently having two equilibrium points. These equilibrium points are carefully inspected, and the stability of the system controlled by means of the proposed approach is also analyzed using Lyapunov stability theory. To highlight the angular-rate constrained attitude control technique, a three-dimensional path is constructed using the Dubins path technique, and three-axis attitude commands for UAV are also generated by augmenting the line-of-sight algorithm. Compared with conventional sliding mode control measures, the excellent performance of the suggested control algorithm has been demonstrated by conducting numerical simulations.

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Auto-landing of fixed wing unmanned aerial vehicles using the backstepping control

Cited by 64 publications

References 35 publications

Active Disturbance Rejection Attitude Control for a Bird-Like Flapping Wing Micro Air Vehicle During Automatic Landing

Active Disturbance Rejection Attitude Control for a Bird-Like Flapping Wing Micro Air Vehicle During Automatic Landing

Disturbance Observer-Based Backstepping Control of Tail-Sitter UAVs

Angular Rate Constrained Sliding Mode Control of UAVs for Path Following

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