Dual_Layer_Optimization_Based_Control_Allocation_for_a_Fixed_Wing_UAV.pdf (5.14 MB)
Download fileDual-layer optimization-based control allocation for a fixed-wing UAV
journal contribution
posted on 2021-10-22, 10:52 authored by Yunda Yan, Cunjia LiuCunjia Liu, Hyondong Oh, Wen-Hua ChenWen-Hua ChenMany existing control allocation methods separate the high-level control design from their low-level
allocation design, assuming that the constraints of actuators can be guaranteed by the allocator.
This idea may not be suitable for the nonlinear fixed-wing unmanned aerial vehicle studied here,
which hence motivates this work. In this paper, we propose a new dual-layer optimization-based
control allocation method, in which the proposed allocator, on the one hand, can modify the predesigned virtual signals from the high-level when the out-layer actuator, i.e., throttle, reaches its
constraint. On the other hand, it reverts the conventional constrained allocator when the throttle
constraints are inactive. Another feature is that under the proposed framework, the initial state of
the augmented actuator dynamics serves as design parameters, bringing more degrees of freedom
for allocation design without affecting the nominal stability. Apart from the control allocator,
this paper also proposes a high-level flight controller based on the control-oriented model and
a combination of nonlinear dynamic inversion and disturbance observer. Disturbance observer
provides robustness by estimating the model errors between the control-oriented and true models,
and compensating for them in the controller. High-fidelity simulation results under realistic wind
disturbances are presented to demonstrate the performance of the proposed method.
History
School
- Aeronautical, Automotive, Chemical and Materials Engineering
Department
- Aeronautical and Automotive Engineering
Published in
Aerospace Science and TechnologyVolume
119Publisher
ElsevierVersion
- AM (Accepted Manuscript)
Rights holder
© ElsevierPublisher statement
This paper was accepted for publication in the journal Aerospace Science and Technology and the definitive published version is available at https://doi.org/10.1016/j.ast.2021.107184Acceptance date
2021-10-20Publication date
2021-10-29Copyright date
2021ISSN
1270-9638Publisher version
Language
- en