The Application of Nn to Management Problems

Coelho, Arnaldo; Moutinho, Luiz; Hutcheson, Graeme; Silva, Maria Manuela Santos

doi:10.1142/9789814696357_0006

Cited by 1 publication

(3 citation statements)

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“…In order to apply incremental control techniques, it is useful to express (11) in its incremental form under the assumptions that the input u att has a faster effect on the dynamics of this subsystem and a small sampling time is possible [31], resulting in…”

Section: Affine Form In Hover Conditionsmentioning

confidence: 99%

“…The last step required for the implementation of (30) is to determine the time-derivative of α. For this research a decision was made to compute α analytically, although assuming a time-scale separation between the dynamics and kinematics by considering G kin,err to be constant at each time-step, resulting in α = G −1 kin,err − K 1 G kin,err w B g (31) Similarly to the INDI controller, the incremental backstepping approach assumes that ẇB g is available, and thus the second-order derivative filter in (20) was used for this purpose. The IBKS control strategy can also be paired with a command-filter, having an analogous set of design variables to INDI: ω IBKS SD , λ IBKS , τ IBKS CF , K 1 and K 2 .…”

Section: Ibks Attitude Controlmentioning

confidence: 99%

“…It was soon verified that the IBKS implementation was more computationally-demanding than the INDI one, mainly due to the multiple matrix over vector multiplications and matrix inversions present in ( 24), ( 30) and (31). Therefore, some care was taken to optimize the code in order to minimize these costly operations.…”

Section: • Setup Descriptionmentioning

confidence: 99%

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Incremental Nonlinear Dynamics Inversion and Incremental Backstepping: Experimental Attitude Control of a Tail-sitter UAV

Athayde,

Moutinho,

Azinheira

2024

Preprint

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Incremental control strategies provide undeniable advantages for controlling Uncrewed Aerial Vehicles (UAVs) due to their reduced model dependency and accurate tracking capacities. This is of particular relevance for hybrid UAVs, specially for tail-sitters, which perform complex manoeuvres when transitioning to and from aerodynamic flight. This paper summarizes the research undertaken in the application of the Incremental Nonlinear Dynamics Inversion (INDI) and Incremental Backstepping (IBKS) to a small tail-sitter UAV. After the application of these control strategies in a simulated scenario, the implementation in a Micro-Controller Unit was validated in a Hardware-in-the-Loop scenario. Following such validation, indoor experimental trials were undertaken in order to evaluate the capacity of these controllers to stabilize and control the real aircraft. The stabilization in the flight trials was successfully implemented and allow to conclude that both INDI and IBKS are control strategies suited to control a tail-sitter in vertical flight, providing accurate tracking capabilities under smooth actuation. Furthermore, it was found that the IBKS is significantly more computationally demanding than the INDI, although having a global proof of stability that is of interest in aircraft control.

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Section: Affine Form In Hover Conditionsmentioning

confidence: 99%

Section: Ibks Attitude Controlmentioning

confidence: 99%