Incremental Nonlinear Dynamics Inversion and Incremental Backstepping: Experimental Attitude Control of a Tail-Sitter UAV DOI Creative Commons
Alexandre Athayde, Alexandra Moutinho, José Raúl Azinheira

et al.

Actuators, Journal Year: 2024, Volume and Issue: 13(6), P. 225 - 225

Published: June 17, 2024

Incremental control strategies such as Nonlinear Dynamics Inversion (INDI) and Backstepping (IBKS) provide undeniable advantages for controlling Uncrewed Aerial Vehicles (UAVs) due to their reduced model dependency accurate tracking capacities, which is of particular relevance tail-sitters these perform complex, hard manoeuvres when transitioning from aerodynamic flight. In this research article, a quaternion-based form IBKS originally deduced applied the stabilization tail-sitter in vertical flight, then implemented flight controller validated Hardware-in-the-Loop simulation, also made INDI controller. Experimental validation with indoor tests both controllers follows, evaluating performance stabilizing prototype Lastly, results obtained experimental trials are analysed, allowing an objective comparison be drawn between controllers, respective limitations. From successfully conducted tests, it was found that incremental solutions suited providing capabilities smooth actuation, only requiring actuation model. Furthermore, significantly more computationally demanding than INDI, although having global proof stability interest aircraft control.

Language: Английский

Practical System Identification and Incremental Control Design for a Subscale Fixed-Wing Aircraft DOI Creative Commons
Rasmus Steffensen,

Kilian Ginnell,

Florian Holzapfel

et al.

Actuators, Journal Year: 2024, Volume and Issue: 13(4), P. 130 - 130

Published: April 4, 2024

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 control. A kinematic relation the aerodynamic side-slip angle rate developed apply pseudo full state feedback. In order perform and assessment, plant model estimated test data from gyro, accelerometer, airspeed surface deflection measurements during sine-sweep excitations. Transfer function models actuators deflections are identified both in-flight ground several different surfaces hall sensor measurements. The analysis reveals large variation bandwidth between types of servo motors. Flight results presented which demonstrates that estimates based tests with good frequency excitation, high can be used reasonably predict closed-loop dynamic behavior aircraft. iDPi show performance lays groundwork further development.

Language: Английский

Citations

6
Design of a Morphing Aircraft Based on Model Predictive Control DOI Creative Commons
Wei Ren, Yingjie Wei, Cong Wang

et al.

Applied Sciences, Journal Year: 2025, Volume and Issue: 15(8), P. 4380 - 4380

Published: April 16, 2025

Morphing aircraft can actively or passively change their shape in different flight environments and missions to ensure optimal performance at all stages, thereby enhancing environmental adaptability meeting extensive multi-mission requirements. This paper proposes a stable control strategy for variable-span based on Model Predictive Control (MPC). The Linear Parameter Varying (LPV) modeling approach is adopted establish longitudinal dynamic model that varies with the wingspan deformation rate. Without considering disturbances, predictive designed achieve stability during flight. Considering existence of composite disturbances morphing process, robust (RMPC) proposed, using set containment as index. To verify robustness strategy, numerical tests are conducted under rates disturbance intensities. test results demonstrate RMPC effectively suppress external various rates, maintain speed altitude, smooth transitions critical state parameters such angle attack pitch angle. These validate effectiveness proposed method.

Language: Английский

Citations

0
Design and Experimental Validation of an Adaptive Multi-Layer Neural Network Observer-Based Fast Terminal Sliding Mode Control for Quadrotor System DOI Creative Commons
Zainab Akhtar, Syed Abbas Zilqurnain Naqvi,

Yasir Khan

et al.

Aerospace, Journal Year: 2024, Volume and Issue: 11(10), P. 788 - 788

Published: Sept. 24, 2024

This study considers the numerical design and practical implementation of a new multi-layer neural network observer-based control technique for unmanned aerial vehicles systems. Initially, an adaptive network-based Luenberger observer is designed state estimation by employing modified back-propagation algorithm. The proposed observer’s nature aids in mitigating impact noise, disturbance, parameter variations, which are usually not considered conventional observers. Based on observed states, nonlinear dynamic inversion-based fast terminal sliding mode controller to attain desired attitude position tracking control. done two-loop structure. Numerical simulations conducted demonstrate effectiveness scheme presence uncertainty, noise. results compared with current approaches, demonstrating superiority method. In order assess method, hardware-in-loop utilizing Pixhawk 6X flight that interfaces mission planner software. Finally, experiments real F450 quadrotor secured laboratory environment, stability good performance MLNN SMC scheme.

Language: Английский

Citations

0
Rapid Integrated Design Verification of Vertical Take-Off and Landing UAVs Based on Modified Model-Based Systems Engineering DOI Creative Commons
Zhuo Bai,

Bangchu Zhang,

Mingli Song

et al.

Drones, Journal Year: 2024, Volume and Issue: 8(12), P. 755 - 755

Published: Dec. 13, 2024

Unmanned Aerial Vehicle (UAV) development has garnered significant attention, yet one of the major challenges in field is how to rapidly iterate overall design scheme UAVs meet actual needs, thereby shortening cycles and reducing costs. This study integrates a “Decision Support System” “Live Virtual Construct (LVC) environment” into existing Model-Based Systems Engineering framework, proposing Modified methodology for full-process UAVs. By constructing decision support system hybrid reality space—which includes pure digital modeling simulation analysis software, semi-physical platforms, real flight environments, virtual UAVs—we demonstrate this method through electric vertical take-off landing fixed-wing UAV DB1. allows rapid, on-demand iteration fully environment, with feasibility validated by comparing test results mission indicators. The show that approach significantly accelerates while costs, achieving rapid from “demand side side” under “0 loss” background. DB1 platform can carry 2.5 kg payload, achieve over 40 min time, cover range more than 70 km. work provides valuable references enterprises aiming reduce costs increase efficiency commercialization applications.

Language: Английский

Citations

0
Incremental Nonlinear Dynamics Inversion and Incremental Backstepping: Experimental Attitude Control of a Tail-Sitter UAV DOI Creative Commons
Alexandre Athayde, Alexandra Moutinho, José Raúl Azinheira

et al.

Actuators, Journal Year: 2024, Volume and Issue: 13(6), P. 225 - 225

Published: June 17, 2024

Incremental control strategies such as Nonlinear Dynamics Inversion (INDI) and Backstepping (IBKS) provide undeniable advantages for controlling Uncrewed Aerial Vehicles (UAVs) due to their reduced model dependency accurate tracking capacities, which is of particular relevance tail-sitters these perform complex, hard manoeuvres when transitioning from aerodynamic flight. In this research article, a quaternion-based form IBKS originally deduced applied the stabilization tail-sitter in vertical flight, then implemented flight controller validated Hardware-in-the-Loop simulation, also made INDI controller. Experimental validation with indoor tests both controllers follows, evaluating performance stabilizing prototype Lastly, results obtained experimental trials are analysed, allowing an objective comparison be drawn between controllers, respective limitations. From successfully conducted tests, it was found that incremental solutions suited providing capabilities smooth actuation, only requiring actuation model. Furthermore, significantly more computationally demanding than INDI, although having global proof stability interest aircraft control.

Language: Английский

Citations

0