Tracking Control Of A Small Unmanned Air Vehicle With Airflow Awareness

Keywords

airflow sensing; and robust tracking control; bioinspired flight control; small unmanned air vehicle

Abstract

Flying animals are so well adapted to their complex natural environment, that their aerial locomotive flight mechanisms attract much attention in the context of designing high performance flying robots. Inspired from the sensing and flight control strategies of birds and bats, a bioinspired robust tracking control method for small unmanned air vehicles using in-situ measured airflow information, is proposed. First, the relationship between the airflow measurment and aerodynamic forces is presented. Then, an aerodynamic model is derived, with the aerodynamic forces calculated from the flow measurment. To cope with the un-modeled dynamics, wind gust disturbances, and measurement noise, a robust sliding mode tracking controller is derived using the backstepping framework. Finally, a simulation system is created to test the effectiveness of the proposed tracking control method. The results demonstrate that the proposed tracking control system provides an enhanced tracking performance.

Publication Date

6-29-2017

Publication Title

Proceedings of the American Control Conference

Number of Pages

4153-4158

Document Type

Article; Proceedings Paper

Personal Identifier

scopus

DOI Link

https://doi.org/10.23919/ACC.2017.7963593

Socpus ID

85027006044 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/85027006044

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