固定翼微型飞行器耦合动力学非线性建模与控制

K. Harikumar, Sidhant Dhall, M Seetharama Bhat
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引用次数: 14

摘要

本文研究了跨度为150mm的固定翼微型飞行器(MAV)纵向和横向耦合动力学的非线性建模和控制设计。研究表明,螺旋桨尾迹和反转矩对微型飞行器的动力学特性有显著影响。纵向动力学和横向动力学之间的严重耦合导致对非常规高维状态空间模型的控制系统设计提出了要求。该控制器采用静态输出反馈结构,对参数不确定性具有鲁棒性。采用德莱顿风扰动下MAV的六自由度非线性模型对所提出的控制器进行了仿真。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Nonlinear modeling and control of coupled dynamics of a fixed wing micro air vehicle
In this paper, we consider the nonlinear modeling and control design for coupled longitudinal and lateral dynamics of a fixed wing micro air vehicle (MAV) of span 150 mm. It is shown that propeller wake and counter torque has significant effects on the dynamics of the MAV. Severe coupling between longitudinal and lateral dynamics drives the requirement for control system design for unconventional higher dimensional state space model. The controller takes the structure of static output feedback possessing robustness against parametric uncertainties. The proposed controller is simulated using six degree of freedom nonlinear model of the MAV under Dryden wind disturbances.
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