A9R16wsuxw_4xhih7_3kg.pdf (1.65 MB)
Disturbance observer based control for gust alleviation of a small fixed-wing UAS
conference contribution
posted on 2016-10-06, 15:09 authored by Jean Smith, Cunjia LiuCunjia Liu, Wen-Hua ChenWen-Hua ChenThis paper outlines a method of applying a linear disturbance observer to a small Unmanned Aerial System (UAS)to reduce the influence of unpredictable gusts on the non-linear aircraft dynamics. This work aims to show that by using a linear state-space model it is possible to estimate external disturbances and use the available control surfaces to alleviate the influence
of gusts on aircraft dynamics accordingly. This paper focuses on the longitudinal channel of a small UAS to demonstrate the
strategy. A baseline Linear Quadratic Regulator with Integral Action (LQI) is first developed; the disturbance observer based control strategy is then patched into this baseline controller to demonstrate the performance improvement. Simulations are
conducted using the designed linear observer to alleviate various disturbance sources on a fully non-linear simulation of the
UAS. This aims to demonstrate performance of an observer in a realistic situation where uncertainties between the linear
observer and non-linear plant to be controlled are present.
History
School
- Aeronautical, Automotive, Chemical and Materials Engineering
Department
- Aeronautical and Automotive Engineering
Published in
International Conference on Unmanned Aircraft SystemsCitation
SMITH, J., LIU, C. and CHEN, W.-H., 2016. Disturbance observer based control for gust alleviation of a small fixed-wing UAS. 2016 International Conference on Unmanned Aircraft Systems (ICUAS), Arlington, VA USA, 7th-10th June 2016, pp. 97-106.Publisher
© IEEEVersion
- AM (Accepted Manuscript)
Acceptance date
2016-04-13Publication date
2016Notes
© 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.ISBN
9781467393348Publisher version
Language
- en