Real-time Implementation and Flight Tests using Linear and Nonlinear Controllers for a Fixed-wing Miniature Aerial Vehicle (MAV)

Tadeo Espinoza-Fraire; Alejandro Dzul; Facundo Cortés-Martínez; Wojciech Giernacki

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Real-time Implementation and Flight Tests using Linear and Nonlinear Controllers for a Fixed-wing Miniature Aerial Vehicle (MAV)

机译：使用线性和非线性控制器的实时实施和飞行测试，用于固定翼微型航空车辆（MAV）

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AbstractThis work presents the real-time implementation of four linear controllers and one nonlinear control technique (known as backstepping), for a fixed-wing miniature aerial vehicle. The implemented linear controllers in such a MAV are: Proportional-Integral-Derivative (PID), Proportional-Derivative (PD), Linear Quadratic Regulator (LQR), and experimental test of an LQR with a discrete-time Kalman filter. All the controllers are designed for a aerodynamic model that does not consider the wind gusts. These five control laws have been implemented in a real-time flight with the purpose of knowing which of these controllers has a better performance. Thus, experimental results have been analyzed in order to validate the performance of the fixed-wing miniature aerial vehicle.]]>

机译：<！[cdata [ <标题>抽象 ara>本工作提出了四个线性控制器和一个非线性控制技术的实时实现（称为backstepping ），用于固定翼微型空中车辆。这种MAV的实施线性控制器是：比例 - 积分 - 衍生物（PID），比例衍生物（PD），线性二次调节器（LQR），以及带有离散时间卡尔曼滤波器的LQR的实验测试。所有控制器都设计用于空气动力学模型，不考虑风力阵风。这五项控制法律已经在实时航班中实施，目的是了解这些控制器中的哪一个具有更好的性能。因此，已经分析了实验结果，以验证固定翼微型航空车辆的性能。 ]]>

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来源
《International Journal of Control, Automation, and Systems》 |2018年第1期|共5页
作者
Tadeo Espinoza-Fraire; Alejandro Dzul; Facundo Cortés-Martínez; Wojciech Giernacki;
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作者单位

Faculty of Engineering Science and Architecture UJED;

TecNM/Instituto Tecnológico de la Laguna;

Faculty of Engineering Science and Architecture UJED;

Institute of Control and Information Engineering Poznan University of Technology;

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原文格式 PDF
正文语种 eng
中图分类自动化技术及设备;
关键词
Backstepping; embedded system; fixed-wing miniature aerial vehicle; LQR; PD; PID;

机译：BackStepping;嵌入式系统;固定翼微型空中车辆;LQR;PD;PID;

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专利

1. Real-time Implementation and Flight Tests using Linear and Nonlinear Controllers for a Fixed-wing Miniature Aerial Vehicle (MAV) [J] . Tadeo Espinoza-Fraire, Alejandro Dzul, Facundo Cortés-Martínez, International Journal of Control, Automation, and Systems . 2018,第1期

机译：使用线性和非线性控制器的实时实施和飞行测试，用于固定翼微型航空车辆（MAV）
2. Lateral directional fractional order (PI)<0; control of a small fixed-wing unmanned aerial vehicles: controller designs and flight tests [J] . Luo Y., Chao H., Di L., Control Theory & Applications, IET . 2011,第18期

机译：小型固定翼无人机的横向方向分数阶（PI） <0; 控制：控制器设计和飞行测试
3. Performance analysis of nonlinear observers applied to the fixed-wing unmanned aerial vehicles flight under decoupled-reduced model [J] . Parada Ricardo P., Tadeo Espinoza A., Dzul Alejandro E., International journal of micro air vehicles . 2017,第2期

机译：解耦归约模型在固定翼无人机飞行中非线性观测器性能分析
4. Investigation, Flight Testing and Comparison of Three Nonlinear Control Techniques with Application to a Quadrotor Unmanned Aerial Vehicle [C] . Tong Li, Youmin Zhang, Brandon W. Gordon AIAA guidance, navigation, and control conference . 2012

机译：四旋翼无人机的三种非线性控制技术的研究，飞行试验和比较
5. Real-time non-linear flight control of a fixed-wing UAV =REAL-TIME NON-LINEAR FLIGHT CONTROL OF A FIXED-WING UAV [D] . Landry, Mario. 2012

机译：固定翼UAV的实时非线性飞行控制=固定翼UAV的实时非线性飞行控制
6. Real-Time Model-Free Minimum-Seeking Autotuning Method for Unmanned Aerial Vehicle Controllers Based on Fibonacci-Search Algorithm [O] . Wojciech Giernacki, Dariusz Horla, Tomáš Báča, 2019

机译：基于斐波那契搜索算法的无人飞行器控制器实时无模型最小寻优自整定方法
7. Development of a nonlinear 6-degree of freedom miniature rotary-wing unmanned aerial vehicle software model and PID flight path controller using Mathworks Simulink simulation environment [O] . Miranda Ricardo E. 2009

机译：使用Mathworks Simulink仿真环境开发非线性六自由度微型旋翼无人机软件模型和PID飞行路径控制器

Real-time Implementation and Flight Tests using Linear and Nonlinear Controllers for a Fixed-wing Miniature Aerial Vehicle (MAV)

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