Modeling and PIL-based design for AGV flight control system

Abstract

Aerial Gliding Vehicles (AGVs) play a crucial role in military operations owing to their versatile and multipurpose capabilities. Achieving accurate modeling of AGVs is paramount for understanding their behavior and optimizing performance. While nonlinear models excel in capturing intricate phenomena, their complexity and computational demands make them less suitable for control system design. Hence, the utilization of linear models becomes imperative, offering a more comprehensible depiction of AGV dynamics and facilitating effective control system analysis and design. This study aims to develop a precise linear model for AGVs, providing a clear and interpretable framework for analysis and control system development. The constructed linear model serves as the foundation for devising various control strategies, significantly enhancing our comprehension of AGV behavior. Moreover, a comprehensive investigation into the AGV’s actuation system is conducted, employing advanced system identification techniques to establish an accurate actuation model. This phase is critical for ensuring the precise and efficient operation of the control system. The research encompasses the design and evaluation of two distinct AGV control strategies. Firstly, the Modified Proportional-Integral-Derivative (PI-D) controller, a conventional approach widely employed in control systems, serves as a stable benchmark for comparison. Secondly, the innovative Fuzzy-PI-D (F-PI-D) controller is introduced, harnessing fuzzy logic to augment control accuracy and responsiveness, particularly advantageous for complex systems like AGVs. To validate the performance of these control strategies, the study adopts the robust Processor in the Loop (PIL) methodology, integrating LabVIEW and an embedded device to conduct reliable testing and verification of control systems in a simulated environment. PIL offers the distinct advantage of evaluating control strategies under diverse conditions without the necessity of costly and hazardous real-world flight tests. Simulation outcomes furnish valuable insights into the efficacy of these control strategies. Significantly, the F-PI-D controller emerges as the preferred choice for enhancing AGV flight stability, precision, and responsiveness, thus contributing to the advancement of AGV control systems and their utility in military operations.