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On the actuator dynamics of dynamic control allocation for a small fixed-wing UAV with direct lift control
journal contribution
posted on 2019-10-03, 08:12 authored by Yunda Yan, Jun Yang, Cunjia LiuCunjia Liu, Matthew CoombesMatthew Coombes, Shihua Li, Wen-Hua ChenWen-Hua ChenA novel dynamic control allocation method is proposed for a small fixed-wing unmanned aerial vehicle (UAV), whose flaps can be actuated as fast as other control surfaces, offering an extra way of changing the lift directly. The actuator dynamics of this kind of UAVs, which may be sluggish comparing to the UAV dynamics, should also be considered in the control design. To this end, a hierarchical control allocation architecture is developed. A disturbance observer based high-level tracking controller is first designed to accommodate the lagging effect of
the actuators and to compensate the adverse effect of external disturbances. Then, a dynamic control allocator based on a receding-horizon performance index is developed, which forces the actuator state in the low-level to follow the optimised reference. Compared to the conventional control allocation method that assumes ideal actuators with infinite bandwidths, higher tracking accuracy of the UAV and better energy efficiency can be achieved by the proposed method. Stability analysis and high fidelity simulations both demonstrate the effectiveness of the proposed method, which can be deployed on different fixed-wing UAVs with flaps to achieve better performance.
Funding
UK EPSRC Grant EP/P012868/1
National Natural Science Foundation of China under Grant Nos. 61973080, 61973081 and 61750110525
State Scholarship Fund under Grant No. 201706090111
History
School
- Aeronautical, Automotive, Chemical and Materials Engineering
Department
- Aeronautical and Automotive Engineering
Published in
IEEE Transactions on Control Systems TechnologyVolume
28Issue
3Pages
984 - 991Publisher
Institute of Electrical and Electronics EngineersVersion
- AM (Accepted Manuscript)
Rights holder
© IEEEPublisher statement
© 2019 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.Acceptance date
2019-09-30Publication date
2020-03-24Copyright date
2019ISSN
1063-6536eISSN
1558-0865Publisher version
Language
- en
Depositor
Dr Cunjia LiuUsage metrics
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