Title :
Dynamic Inversion Approach Study of UAV Lateral Control under Model Mismatch
Author :
Kahou Tou ; Jianying Yang
Author_Institution :
Coll. of Eng., Peking Univ., Beijing, China
Abstract :
In this paper, the preliminary effort of pre-flight test lateral control method study is presented. Parameters and coefficients of candidate UAV (Unmanned Aviation Vehicle) are calculated for modelling and linearization. For controller design, dynamic inversion is proposed to cancel dynamic coupling between attitudes. Stability and controllability of decentralized linear controller which applied on non-ideal inversion is studied. After that, dynamic based approach is compared with conventional architecture by performing a coordinate turn.
Keywords :
autonomous aerial vehicles; control system synthesis; controllability; decentralised control; linearisation techniques; robot dynamics; UAV lateral control; controllability; controller design; decentralized linear controller; dynamic inversion approach; model mismatch; nonideal inversion; stability; unmanned aviation vehicle; Aerodynamics; Aircraft; Atmospheric modeling; Couplings; Nonlinear dynamical systems; Stability analysis; Vehicle dynamics; DATCOM; Dynamic inversion; UAV; decentalized controller; non-linear PID;
Conference_Titel :
Information Science and Control Engineering (ICISCE), 2015 2nd International Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-4673-6849-0
DOI :
10.1109/ICISCE.2015.165
