LPV model reference control for fixed-wing UAVs

Rotondo, Damiano; Cristofaro, Andrea; Gryte, Kristoffer; Johansen, Tor Arne

doi:10.1016/j.ifacol.2017.08.1640

Cited by 7 publications

(2 citation statements)

References 17 publications

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“…The aircraft reduces its airspeed, increasing the AOA to deep stall conditions. In [21], the authors propose a model reference control to stabilize the altitude and airspeed where the deep stall conditions are reached by the regulation of airspeed. Another alternative solution is the modification of the airplane's structure which has been studied to obtain aerodynamic features such as in [22].…”

Section: Introductionmentioning

confidence: 99%

Nonconventional angle-of-attack control strategy for reducing the airspeed during the fixed-wing drone landing

Alatorre,

Castillo,

Lozano

2023

2023 European Control Conference (ECC)

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In this work, a control strategy for landing, with minimum airspeed, a fixed-wing drone with classical configuration on a touchdown point is presented. In this crucial and critic landing phase of this kind of aircrafts the challenge is to absorb the drone's airspeed without loss its controllability. Our strategy proposes a scientific solution for a safe landing by controlling the angle of attack of the drone assuring its stability during all this stage. In our analysis, a flight scheme composed by a cruise flight and a landing scheme is considered. The control strategy obtained from the Lyapunov theory proposes a critic descending angle to obtain a maximum airspeed reduction. In addition, an observer is proposed for estimating external aerodynamics parameters and compensate them in closed-loop system. Numerical validation corroborates the well performance of the proposed control algorithms.

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Section: Introductionmentioning

confidence: 99%

Nonconventional angle-of-attack control strategy for reducing the airspeed during the fixed-wing drone landing

Alatorre,

Castillo,

Lozano

2023

2023 European Control Conference (ECC)

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“…e LPV model reference method [14] has been further developed in [18] to achieve agile and high-performance tracking objectives of UAVs. Chen et al [19] used a disturbance observer-based control (DOBC) scheme with transient performance design for UAVs to tackle the mismatched disturbance problem.…”

Section: Introductionmentioning

confidence: 99%

Full-State-Constrained Adaptive Control for a Class of UAVs Suffering from Coupled Uncertainties Using the HOBLF

Chang

Wang

Chen

et al. 2021

Mathematical Problems in Engineering

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Nowadays, the practical tasks of UAVs are becoming more and more complicated and diversified. In the practical flight process, the large-scale changes of the flight environment, the modeling errors, and the external disturbances may induce the instability of the UAV flight system. Meanwhile, the constraints of the UAV attitudes also have to be guaranteed during the flight process. However, most existing control methods still have limitations in handling the constraints and the multisource disturbances simultaneously. To address this problem, in this paper, we focus on the actual output tracking control for the UAV systems with full-state constraints and multisource disturbances. Firstly, a high-order tan-type barrier Lyapunov function (HOBLF) has been constructed for the UAV to maintain the full-state constraints. Secondly, by combining the adaptive backstepping technique and the fuzzy logic systems, the modeling errors and the unknown nonlinearities of the UAV attitude control system can be handled. Moreover, by properly constructing several adaptive laws, the time-varying disturbances existing in the UAV attitude control system can be suppressed. Finally, the full-state-constrained antidisturbance controller is formed, ensuring that the tracking error approaches arbitrarily to small neighborhood and does not violate the given constraints. The simulation results illustrate the feasibility and the advantages of the proposed method.

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Robust fault and icing diagnosis in unmanned aerial vehicles using LPV interval observers

Rotondo

Cristofaro

Johansen

et al. 2018

Intl J Robust & Nonlinear

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Summary This paper proposes a linear parameter varying (LPV) interval unknown input observer for the robust fault diagnosis of actuator faults and ice accretion in unmanned aerial vehicles (UAVs) described by an uncertain model. The proposed interval observer evaluates the set of values for the state, which are compatible with the nominal fault‐free and icing‐free operation and can be designed in such a way that some information about the nature of the unknown inputs affecting the system can be obtained, thus allowing the diagnosis to be performed. The proposed strategy has several advantages. First, the LPV paradigm allows taking into account operating point variations. Second, the noise rejection properties are enhanced by the presence of the integral term. Third, the interval estimation property guarantees the absence of false alarms. Linear matrix inequality–based conditions for the analysis/design of these observers are provided in order to guarantee the interval estimation of the state and the boundedness of the estimation. The developed theory is supported by simulation results, obtained with the uncertain model of a Zagi Flying Wing UAV, which illustrate the strong appeal of the methodology for identifying correctly unexpected changes in the system dynamics due to actuator faults or icing.

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LPV model reference control for fixed-wing UAVs

Cited by 7 publications

References 17 publications

Nonconventional angle-of-attack control strategy for reducing the airspeed during the fixed-wing drone landing

Nonconventional angle-of-attack control strategy for reducing the airspeed during the fixed-wing drone landing

Full-State-Constrained Adaptive Control for a Class of UAVs Suffering from Coupled Uncertainties Using the HOBLF

Robust fault and icing diagnosis in unmanned aerial vehicles using LPV interval observers

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