Optimal control of a small fixed-wing UAV about concatenated trajectories. (July 2015)

• Record Type: Journal Article
• Authors: Arifianto, Ony; Farhood, Mazen
• Is Part Of: Control engineering practice. Volume 40(2015)
• Page Start: 113
• Page End: 132
• Publication Date: 2015-07
• Subjects: Unmanned aerial vehicles -- Small fixed-wing aircraft -- Optimal ℓ2-induced norm control -- Switched control systems -- Tracking along trajectories; Automatic control -- Periodicals; 629.89
• DOI: 10.1016/j.conengprac.2015.03.007
• Languages: English
• ISSNs: 0967-0661

Abstract

Abstract: The paper focuses on the control of a small fixed-wing unmanned aerial vehicle (UAV) along trajectories. The trajectories are generated in real-time from a library of pre-specified motion primitives. Two concatenated primitive trajectories are considered: one formed from seven primitives and exhibiting a figure-8 geometric path and another composed of a Split-S maneuver that settles into a level-turn trim trajectory. Switched control systems stemming from ℓ 2 -induced norm synthesis approaches are designed for discrete-time linearized models of the nonlinear UAV system. These controllers are analyzed based on simulations in a realistic operational environment and are further implemented on the physical UAV. Abstract : Highlights: Trajectory tracking controllers are designed for and executed on a fixed-wing UAV. Trajectories are generated online by concatenating pre-specified motion primitives. Switched controllers are designed for discrete-time linearized models of the UAV. LMI-based control approaches with H -infinity type performance are applied. Lemniscate and aerobatic trajectories are used to validate designed controllers.