Fast Tube-Based Robust Compensation Control for Fixed-Wing UAVs
When considering the robust control of fixed-wing Unmanned Aerial Vehicles (UAVs), a conflict often arises between addressing nonlinearity and meeting fast-solving requirements. In existing studies, the less nonlinear robust control methods have shown significant improvements that parallel computing...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-07-01
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| Series: | Drones |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2504-446X/7/7/481 |
| _version_ | 1797589610430201856 |
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| author | Lixin Wang Sizhuang Zheng Weijia Wang Hao Wang Hailiang Liu Ting Yue |
| author_facet | Lixin Wang Sizhuang Zheng Weijia Wang Hao Wang Hailiang Liu Ting Yue |
| author_sort | Lixin Wang |
| collection | DOAJ |
| description | When considering the robust control of fixed-wing Unmanned Aerial Vehicles (UAVs), a conflict often arises between addressing nonlinearity and meeting fast-solving requirements. In existing studies, the less nonlinear robust control methods have shown significant improvements that parallel computing and dimensionality reduction techniques in real-time applications. In this paper, a nonlinear fast Tube-based Robust Compensation Control (TRCC) for fixed-wing UAVs is proposed to satisfy robustness and fast-solving requirements. Firstly, a solving method for discrete trajectory tubes was proposed to facilitate fast parallel computation. Subsequently, a TRCC algorithm was developed that minimized the trajectory tube to enhance robustness. Additionally, considering the characteristics of fixed-wing UAVs, dimensionality reduction techniques such as decoupling and stepwise approaches are proposed, and a fast TRCC algorithm that incorporates the control reuse method is presented. Finally, simulations verify that the proposed fast TRCC effectively enhances the robustness of UAVs during tracking tasks while satisfying the requirements for fast solving. |
| first_indexed | 2024-03-11T01:08:57Z |
| format | Article |
| id | doaj.art-9bf5b4242a9f4e6b8a90ed230d07ede3 |
| institution | Directory Open Access Journal |
| issn | 2504-446X |
| language | English |
| last_indexed | 2024-03-11T01:08:57Z |
| publishDate | 2023-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Drones |
| spelling | doaj.art-9bf5b4242a9f4e6b8a90ed230d07ede32023-11-18T19:01:42ZengMDPI AGDrones2504-446X2023-07-017748110.3390/drones7070481Fast Tube-Based Robust Compensation Control for Fixed-Wing UAVsLixin Wang0Sizhuang Zheng1Weijia Wang2Hao Wang3Hailiang Liu4Ting Yue5School of Aeronautical Science and Engineering, Beihang University, Beijing 100191, ChinaSchool of Aeronautical Science and Engineering, Beihang University, Beijing 100191, ChinaFlight Automatic Control Research Institute, AVIC, Xi’an 710065, ChinaFlight Automatic Control Research Institute, AVIC, Xi’an 710065, ChinaSchool of Aeronautical Science and Engineering, Beihang University, Beijing 100191, ChinaSchool of Aeronautical Science and Engineering, Beihang University, Beijing 100191, ChinaWhen considering the robust control of fixed-wing Unmanned Aerial Vehicles (UAVs), a conflict often arises between addressing nonlinearity and meeting fast-solving requirements. In existing studies, the less nonlinear robust control methods have shown significant improvements that parallel computing and dimensionality reduction techniques in real-time applications. In this paper, a nonlinear fast Tube-based Robust Compensation Control (TRCC) for fixed-wing UAVs is proposed to satisfy robustness and fast-solving requirements. Firstly, a solving method for discrete trajectory tubes was proposed to facilitate fast parallel computation. Subsequently, a TRCC algorithm was developed that minimized the trajectory tube to enhance robustness. Additionally, considering the characteristics of fixed-wing UAVs, dimensionality reduction techniques such as decoupling and stepwise approaches are proposed, and a fast TRCC algorithm that incorporates the control reuse method is presented. Finally, simulations verify that the proposed fast TRCC effectively enhances the robustness of UAVs during tracking tasks while satisfying the requirements for fast solving.https://www.mdpi.com/2504-446X/7/7/481unmanned aerial vehiclesnonlinear robust controlrobust compensation controltrajectory tubefast robust control |
| spellingShingle | Lixin Wang Sizhuang Zheng Weijia Wang Hao Wang Hailiang Liu Ting Yue Fast Tube-Based Robust Compensation Control for Fixed-Wing UAVs Drones unmanned aerial vehicles nonlinear robust control robust compensation control trajectory tube fast robust control |
| title | Fast Tube-Based Robust Compensation Control for Fixed-Wing UAVs |
| title_full | Fast Tube-Based Robust Compensation Control for Fixed-Wing UAVs |
| title_fullStr | Fast Tube-Based Robust Compensation Control for Fixed-Wing UAVs |
| title_full_unstemmed | Fast Tube-Based Robust Compensation Control for Fixed-Wing UAVs |
| title_short | Fast Tube-Based Robust Compensation Control for Fixed-Wing UAVs |
| title_sort | fast tube based robust compensation control for fixed wing uavs |
| topic | unmanned aerial vehicles nonlinear robust control robust compensation control trajectory tube fast robust control |
| url | https://www.mdpi.com/2504-446X/7/7/481 |
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