An architecture for automatic tuning of the navigation system of Unmanned Aerial Vehicles

Author

Catena, A. ; Melita, C.D. ; Muscato, G.

Author_Institution

Dipt. di Ing. Elettr. Elettron. e Inf., Univ. of Catania, Catania, Italy

fYear

2013

fDate

28-31 May 2013

Firstpage

592

Lastpage

598

Abstract

In this paper the architecture developed for the automatic tuning of the control loops of Unmanned Aerial Vehicles is presented. In order to validate this architecture, the VOLCAN UAV has been used as test platform. The simplified control system of the VOLCAN UAV, based on cascade controls of PIDs, is introduced, together with the automatic procedure that has been implemented. A Human Machine Interface allows the rapid automatic tuning of the system by means of Åström and Hägglund´s method. Finally, the Hardware in the Loop architecture used to test both the control algorithms and the tuning procedure is presented.

Keywords

autonomous aerial vehicles; cascade control; human-robot interaction; path planning; self-adjusting systems; three-term control; Åström method; Hägglund method; PID; VOLCAN UAV; automatic tuning; cascade control; hardware in the loop architecture; human machine interface; navigation system; unmanned aerial vehicle; Aerospace control; Aerospace electronics; Aircraft; Computer architecture; FCC; Sensors; Tuning; CANAerospace; HIL architecture; PID controllers automatic tuning; Volcan UAV;

fLanguage

English

Publisher

ieee

Conference_Titel

Unmanned Aircraft Systems (ICUAS), 2013 International Conference on

Conference_Location

Atlanta, GA

Print_ISBN

978-1-4799-0815-8

Type

conf

DOI

10.1109/ICUAS.2013.6564737

Filename

6564737