System Identification and Multi-Objective Longitudinal Control Law Design for a Small Fixed-Wing UAV

Sanders, Frank C.; Tischler, Mark B.; Berger, Tom; Berrios, Marcos G.; Gong, Anthony

doi:10.2514/6.2018-0296

Cited by 21 publications

(5 citation statements)

References 4 publications

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“…These predefined sequences allowed more efficient and effective evaluation of aircraft trim, loading, and control surface response; however, as the sequences were pre-programmed, i.e., open-loop, they could not respond to sensor data and thus heavily relied on accurate human-pilot setup to place the aircraft in a proper initial state. Similar techniques were previously described by Arifianto [76] and Sanders [77]. Another option to best utilize VLOS airspace was used in early testing of the NASA AirSTAR program, where a safety pilot always maintained VLOS while a research pilot performed flight testing maneuvers from a synthetic vision and downlinked video ground station cockpit [78].…”

Section: Flight Testing Automationmentioning

confidence: 99%

A Cyber-Physical Prototyping and Testing Framework to Enable the Rapid Development of UAVs

2022

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In this work, a cyber-physical prototyping and testing framework to enable the rapid development of UAVs is conceived and demonstrated. The UAV Development Framework is an extension of the typical iterative engineering design and development process, specifically applied to the rapid development of UAVs. Unlike other development frameworks in the literature, the presented framework allows for iteration throughout the entire development process from design to construction, using a mixture of simulated and real-life testing as well as cross-aircraft development. The framework presented includes low- and high-order methods and tools that can be applied to a broad range of fixed-wing UAVs and can either be combined and executed simultaneously or be executed sequentially. As part of this work, seven novel and enhanced methods and tools were developed that apply to fixed-wing UAVs in the areas of: flight testing, measurement, modeling and emulation, and optimization. A demonstration of the framework to quickly develop an unmanned aircraft for agricultural field surveillance is presented.

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Section: Flight Testing Automationmentioning

confidence: 99%

A Cyber-Physical Prototyping and Testing Framework to Enable the Rapid Development of UAVs

2022

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“…So, they should be reconstructed by using the accelerometer measurement definition as shown in Eq. (4).…”

Section: Mathematical Model Structurementioning

confidence: 99%

“…It is required to design an inner-loop system with adequate bandwidth to track given reference signal by the outer-loop, such as trajectory tracking system. Therefore, the closed-loop system performance of the [4,17].…”

Section: B Arducopter Inner-loop Attitude Controller Performance Evamentioning

confidence: 99%

“…There are several successful implementations applied on fixed-wing and rotary-wing unmanned platforms. In [4], a longitudinal linear mathematical model of a fixed-wing unmanned aerial vehicle (UAV) is identified and pitch attitude control system is designed to achieve adequate tracking performance of a ground target by using a body-fixed camera. In [5], lateral, longitudinal and directional dynamics of Ranger-EX fixed-wing UAV are identified and control system design is performed to improve the attitude reference tracking and disturbance rejection capabilities.…”

Section: Introductionmentioning

confidence: 99%

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System Identification and Model-Based Flight Control System Design for an Agile Maneuvering Quadrotor Platform

Yüksek

Saldiran

Cetin

et al. 2020

AIAA Scitech 2020 Forum

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In this paper, we provide a system identification, model stitching and model-based flight control system design methodology for an agile maneuvering quadrotor micro aerial vehicle (MAV) technology demonstrator platform. The proposed MAV is designed to perform agile maneuvers in hover/low-speed and fast forward flight conditions in which significant changes in system dynamics are observed. As such, these significant changes result in considerable loss of performance and precision using classical hover or forward flight model based controller designs. To capture the changing dynamics, we consider an approach which is adapted from the full-scale manned aircraft and rotorcraft domain. Specifically, linear mathematical models of the MAV in hover and forward flight are obtained by using the frequency-domain system identification method and they are validated in time-domain. These point models are stitched with the trim data and quasi-nonlinear mathematical model is generated for simulation purposes. Identified linear models are used in a multi-objective optimization based flight control system design approach in which several handling quality specifications are used to optimize the controller parameters. Lateral reposition and longitudinal depart/abort mission task elements from ADS-33E-PRF are scaled-down by using kinematic scaling to evaluate the proposed flight control systems. Position hold, trajectory tracking and aggressiveness analysis are performed, Monte-Carlo simulations and actual flight test results are compared. The results show that the proposed methodology provides high precision and predictable maneuvering control capability over an extensive speed envelope in comparison to classical control techniques. Our current work focuses on i) extension of the flight envelope of the mathematical model and ii) improvement of agile maneuvering capability of the MAV.

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“…Subscale flight testing and system identification was performed in [105][106][107][108][109]. In [110], both system identification and control law design were performed for the longitudinal motion of a fixed wing UAV. Complete autopilot systems for UAV have been built or described in, for example, [111][112][113][114][115][116] including the PX4 flight stack used in this study.…”

Section: Introductionmentioning

confidence: 99%

Practical System Identification and Incremental Control Design for a Subscale Fixed-Wing Aircraft

Steffensen,

Ginnell,

Holzapfel

2024

Actuators

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An incremental differential proportional integral (iDPI) control law using eigenstructure assignment gain design is tested in flight on a subscale platform to validate its suitability for fixed-wing flight control. A kinematic relation for the aerodynamic side-slip angle rate is developed to apply a pseudo full state feedback. In order to perform the gain design and assessment, a plant model is estimated using flight test data from gyro, accelerometer, airspeed and surface deflection measurements during sine-sweep excitations. Transfer function models for the actuators and surface deflections are identified both in-flight and on the ground for several different actuators and control surfaces using hall sensor surface deflection measurements. The analysis reveals a large variation in bandwidth between the different types of servo motors. Flight test results are presented which demonstrates that the plant model estimates based on tests with good frequency excitation, high bandwidth actuators and surface deflection measurements can be used to reasonably predict the closed-loop dynamic behavior of the aircraft. The closed-loop flight test results of the iDPi control law show good performance and lays the groundwork for further development.

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System Identification and Multi-Objective Longitudinal Control Law Design for a Small Fixed-Wing UAV

Cited by 21 publications

References 4 publications

A Cyber-Physical Prototyping and Testing Framework to Enable the Rapid Development of UAVs

A Cyber-Physical Prototyping and Testing Framework to Enable the Rapid Development of UAVs

System Identification and Model-Based Flight Control System Design for an Agile Maneuvering Quadrotor Platform

Practical System Identification and Incremental Control Design for a Subscale Fixed-Wing Aircraft

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