{"title":"固定翼微型飞行器耦合动力学非线性建模与控制","authors":"K. Harikumar, Sidhant Dhall, M Seetharama Bhat","doi":"10.1109/INDIANCC.2016.7441153","DOIUrl":null,"url":null,"abstract":"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.","PeriodicalId":286356,"journal":{"name":"2016 Indian Control Conference (ICC)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2016-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"14","resultStr":"{\"title\":\"Nonlinear modeling and control of coupled dynamics of a fixed wing micro air vehicle\",\"authors\":\"K. Harikumar, Sidhant Dhall, M Seetharama Bhat\",\"doi\":\"10.1109/INDIANCC.2016.7441153\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"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.\",\"PeriodicalId\":286356,\"journal\":{\"name\":\"2016 Indian Control Conference (ICC)\",\"volume\":\"45 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2016-01-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"14\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2016 Indian Control Conference (ICC)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/INDIANCC.2016.7441153\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2016 Indian Control Conference (ICC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/INDIANCC.2016.7441153","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
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.