Curved-Line Path-Following Control of Fixed-Wing Unmanned Aerial Vehicles Using a Robust Disturbance-Estimator-Based Predictive Control Approach
In this research, the design of a robust curved-line path-following control system for fixed-wing unmanned aerial vehicles (FWUAVs) affected by uncertainties on the latitude plane is studied. This is undertaken to enhance closed-loop system robustness under unknown uncertainties and derive the contr...
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-10-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/13/20/11577 |
| _version_ | 1797574814622285824 |
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| author | Weiwei Qi Mingbo Tong Qi Wang Wei Song Hunan Ying |
| author_facet | Weiwei Qi Mingbo Tong Qi Wang Wei Song Hunan Ying |
| author_sort | Weiwei Qi |
| collection | DOAJ |
| description | In this research, the design of a robust curved-line path-following control system for fixed-wing unmanned aerial vehicles (FWUAVs) affected by uncertainties on the latitude plane is studied. This is undertaken to enhance closed-loop system robustness under unknown uncertainties and derive the control surface deflection angle directly used to control FWUAVs, which has rarely been studied in previous works. The system is formed through the mass center position control (MCPC) and yaw angle control (YAC) subsystems. In the MCPC, the desired yaw angle, which is treated as the reference signal for the YAC subsystem, is calculated analytically using path-following errors, current flow angles, and the yaw angle. In the YAC, a disturbance estimator is designed to estimate uncertainties such as nonlinearities, couplings, time variations, model parameter perturbations, and unmodeled dynamics. Predictive functional controllers are designed to target nominal systems in the absence of uncertainties, such that the estimations of the uncertainties can be incorporated through feedback for closed-loop system robustness enhancement. The simulation results show that higher path-following precision and stronger robustness for the FWUAVs based on the proposed approach can be achieved using only rough model parameters compared with the conventional nonlinear dynamic inversion, which requires detailed model information. |
| first_indexed | 2024-03-10T21:27:29Z |
| format | Article |
| id | doaj.art-7898f6a32c234040a075c765aa13f056 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T21:27:29Z |
| publishDate | 2023-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-7898f6a32c234040a075c765aa13f0562023-11-19T15:34:06ZengMDPI AGApplied Sciences2076-34172023-10-0113201157710.3390/app132011577Curved-Line Path-Following Control of Fixed-Wing Unmanned Aerial Vehicles Using a Robust Disturbance-Estimator-Based Predictive Control ApproachWeiwei Qi0Mingbo Tong1Qi Wang2Wei Song3Hunan Ying4College of Aerospace Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, ChinaCollege of Aerospace Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, ChinaSchool of Aircraft Engineering, Nanchang Hangkong University, Nanchang 330063, ChinaSchool of Aircraft Engineering, Nanchang Hangkong University, Nanchang 330063, ChinaSchool of General Aviation, Nanchang Hangkong University, Nanchang 330063, ChinaIn this research, the design of a robust curved-line path-following control system for fixed-wing unmanned aerial vehicles (FWUAVs) affected by uncertainties on the latitude plane is studied. This is undertaken to enhance closed-loop system robustness under unknown uncertainties and derive the control surface deflection angle directly used to control FWUAVs, which has rarely been studied in previous works. The system is formed through the mass center position control (MCPC) and yaw angle control (YAC) subsystems. In the MCPC, the desired yaw angle, which is treated as the reference signal for the YAC subsystem, is calculated analytically using path-following errors, current flow angles, and the yaw angle. In the YAC, a disturbance estimator is designed to estimate uncertainties such as nonlinearities, couplings, time variations, model parameter perturbations, and unmodeled dynamics. Predictive functional controllers are designed to target nominal systems in the absence of uncertainties, such that the estimations of the uncertainties can be incorporated through feedback for closed-loop system robustness enhancement. The simulation results show that higher path-following precision and stronger robustness for the FWUAVs based on the proposed approach can be achieved using only rough model parameters compared with the conventional nonlinear dynamic inversion, which requires detailed model information.https://www.mdpi.com/2076-3417/13/20/11577fixed-wing unmanned aerial vehiclespath followingdisturbance estimatorpredictive functional controlnonlinear dynamic inversion |
| spellingShingle | Weiwei Qi Mingbo Tong Qi Wang Wei Song Hunan Ying Curved-Line Path-Following Control of Fixed-Wing Unmanned Aerial Vehicles Using a Robust Disturbance-Estimator-Based Predictive Control Approach Applied Sciences fixed-wing unmanned aerial vehicles path following disturbance estimator predictive functional control nonlinear dynamic inversion |
| title | Curved-Line Path-Following Control of Fixed-Wing Unmanned Aerial Vehicles Using a Robust Disturbance-Estimator-Based Predictive Control Approach |
| title_full | Curved-Line Path-Following Control of Fixed-Wing Unmanned Aerial Vehicles Using a Robust Disturbance-Estimator-Based Predictive Control Approach |
| title_fullStr | Curved-Line Path-Following Control of Fixed-Wing Unmanned Aerial Vehicles Using a Robust Disturbance-Estimator-Based Predictive Control Approach |
| title_full_unstemmed | Curved-Line Path-Following Control of Fixed-Wing Unmanned Aerial Vehicles Using a Robust Disturbance-Estimator-Based Predictive Control Approach |
| title_short | Curved-Line Path-Following Control of Fixed-Wing Unmanned Aerial Vehicles Using a Robust Disturbance-Estimator-Based Predictive Control Approach |
| title_sort | curved line path following control of fixed wing unmanned aerial vehicles using a robust disturbance estimator based predictive control approach |
| topic | fixed-wing unmanned aerial vehicles path following disturbance estimator predictive functional control nonlinear dynamic inversion |
| url | https://www.mdpi.com/2076-3417/13/20/11577 |
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