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

fYear

2015

fDate

24-26 April 2015

Firstpage

716

Lastpage

720

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Information Science and Control Engineering (ICISCE), 2015 2nd International Conference on

Conference_Location

Shanghai

Print_ISBN

978-1-4673-6849-0

Type

conf

DOI

10.1109/ICISCE.2015.165

Filename

7120705