Zhou, Li ; Yang, Jingtao ; Strampe, Tilman ; Klingauf, Uwe (2024)
Incremental nonlinear dynamic inversion based path‐following control for a hybrid quad‐plane unmanned aerial vehicle.
In: International Journal of Robust and Nonlinear Control, 2023, 33 (17)
doi: 10.26083/tuprints-00027178
Artikel, Zweitveröffentlichung, Verlagsversion
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Kurzbeschreibung (Abstract)
Hybrid quad‐plane unmanned aerial vehicles (UAVs), which combine the advantages of multicopters and fixed‐wing UAVs, are gaining increasing attention. However, quad‐planes are characterized by complex structures, high nonlinearity, strong coupling, and three flight regimes (hover, transition, and fixed‐wing flight), which bring great challenges to the research of their control laws. This article aims to design control laws for a quad‐plane in fixed‐wing and hover flight regimes based on a robust nonlinear control method, incremental nonlinear dynamic inversion (INDI), so that the quad‐plane can follow a given path autonomously. Firstly, a mathematical model of the quad‐plane is established on the basis of kinematics and dynamics. Subsequently, cascade control structures are proposed and divided into inner and outer loops. A control law is designed for each control loop based on INDI. To improve the performance of the designed control law, reference models are added to the inner loops to shape the input commands and provide feedforward inputs. Finally, simulation results corroborate the performance and robustness of the proposed control law. Compared with the control law designed by active disturbance rejection control and proportional‐integral‐derivative control methods, the INDI‐based control law is more robust.
| Typ des Eintrags: | Artikel |
|---|---|
| Erschienen: | 2024 |
| Autor(en): | Zhou, Li ; Yang, Jingtao ; Strampe, Tilman ; Klingauf, Uwe |
| Art des Eintrags: | Zweitveröffentlichung |
| Titel: | Incremental nonlinear dynamic inversion based path‐following control for a hybrid quad‐plane unmanned aerial vehicle |
| Sprache: | Englisch |
| Publikationsjahr: | 4 Juni 2024 |
| Ort: | Darmstadt |
| Publikationsdatum der Erstveröffentlichung: | 25 November 2023 |
| Ort der Erstveröffentlichung: | New York |
| Verlag: | John Wiley & Sons |
| Titel der Zeitschrift, Zeitung oder Schriftenreihe: | International Journal of Robust and Nonlinear Control |
| Jahrgang/Volume einer Zeitschrift: | 33 |
| (Heft-)Nummer: | 17 |
| DOI: | 10.26083/tuprints-00027178 |
| URL / URN: | https://tuprints.ulb.tu-darmstadt.de/27178 |
| Zugehörige Links: | |
| Herkunft: | Zweitveröffentlichung DeepGreen |
| Kurzbeschreibung (Abstract): | Hybrid quad‐plane unmanned aerial vehicles (UAVs), which combine the advantages of multicopters and fixed‐wing UAVs, are gaining increasing attention. However, quad‐planes are characterized by complex structures, high nonlinearity, strong coupling, and three flight regimes (hover, transition, and fixed‐wing flight), which bring great challenges to the research of their control laws. This article aims to design control laws for a quad‐plane in fixed‐wing and hover flight regimes based on a robust nonlinear control method, incremental nonlinear dynamic inversion (INDI), so that the quad‐plane can follow a given path autonomously. Firstly, a mathematical model of the quad‐plane is established on the basis of kinematics and dynamics. Subsequently, cascade control structures are proposed and divided into inner and outer loops. A control law is designed for each control loop based on INDI. To improve the performance of the designed control law, reference models are added to the inner loops to shape the input commands and provide feedforward inputs. Finally, simulation results corroborate the performance and robustness of the proposed control law. Compared with the control law designed by active disturbance rejection control and proportional‐integral‐derivative control methods, the INDI‐based control law is more robust. |
| Freie Schlagworte: | hybrid quad‐plane unmanned aerial vehicle, incremental nonlinear dynamic inversion, nonlinear control, path following |
| Status: | Verlagsversion |
| URN: | urn:nbn:de:tuda-tuprints-271789 |
| Zusätzliche Informationen: | Special Issue: Advanced Control and Estimation applied to Aerial Robotic Vehicles |
| Sachgruppe der Dewey Dezimalklassifikatin (DDC): | 600 Technik, Medizin, angewandte Wissenschaften > 620 Ingenieurwissenschaften und Maschinenbau |
| Fachbereich(e)/-gebiet(e): | 16 Fachbereich Maschinenbau 16 Fachbereich Maschinenbau > Fachgebiet für Flugsysteme und Regelungstechnik (FSR) |
| Hinterlegungsdatum: | 04 Jun 2024 12:33 |
| Letzte Änderung: | 05 Jun 2024 08:59 |
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| Suche nach Titel in: | TUfind oder in Google |
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- Incremental nonlinear dynamic inversion based path‐following control for a hybrid quad‐plane unmanned aerial vehicle. (deposited 04 Jun 2024 12:33) [Gegenwärtig angezeigt]
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