Dynamic Inversion and Gain-Scheduling Control for an Autonomous Aerial Vehicle with Multiple Flight Stages
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Dynamic Inversion and Gain-Scheduling Control for an Autonomous Aerial Vehicle with Multiple Flight Stages Natassya B. F. Silva1
· João V. C. Fontes2 · Roberto S. Inoue3 · Kalinka R. L. J. C. Branco1
Received: 25 May 2017 / Revised: 6 November 2017 / Accepted: 22 February 2018 © Brazilian Society for Automatics–SBA 2018
Abstract Several configurations of unmanned aerial vehicles (UAVs) were proposed to support different applications. One of them is the tailsitter, a fixed-wing aircraft that takes off and lands on its own tail, with the advantage of high endurance from fixed-wing aircraft and not requiring a runway during takeoff and landing as helicopters. However, the flight envelope of these vehicles contains multiple flight stages, each one with its own particularities and requirements, which makes its control more complex and hampers its use as an autonomous vehicle. Therefore, this paper presents an autopilot structure for a new tailsitter UAV, called Autonomous VerticAL takeOff and laNding (AVALON), with focus in the use of dynamic inversion and gain-scheduling control. Moreover, the AVALON’s equations of motion are described and used to reproduce a simulation environment. The results show the feasibility of these control techniques, with a convergence of the aircraft attitude and velocity during all the different flight stages of AVALON’s operation. We also compared its behaviour with PI controllers that calculates the control surfaces deflections with the attitude, and the use of dynamic inversion with gain-scheduling shows smaller errors in most of the flight stages, with the exception of the horizontal and landing stages. Keywords Dynamic inversion · Gain-scheduling control · Unmanned aerial vehicle · Vertical takeoff and landing
1 Introduction Unmanned aerial vehicle (UAV) is an aircraft that can fly autonomously, or be remotely piloted, without an human aboard. The autonomy of such machines is achieved by control structures that can keep the aircraft stable during flight manoeuvre (Valavanis 2007). The autopilot is the element responsible for this function, also executing path-following tasks and acquiring information from the environment.
The authors acknowledge the support granted by CNPq (Conselho Nacional de Desenvolvimento Científico e Tecnológico) and FAPESP (Fundação de Amparo à Pesquisa do Estado de São Paulo) through processes 140561/2015-3 and 2012/13641-1.
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Natassya B. F. Silva [email protected]
1
ICMC, Universidade de São Paulo, Avenida Trabalhador São-carlense, 400 Centro, São Carlos, SP 13566-590, Brazil
2
EESC, Universidade de São Paulo, Avenida Trabalhador São-carlense, 400 Centro, São Carlos, SP 13566-590, Brazil
3
DEE, Universidade Federal de São Carlos, Rodovia Washington Luís, km 235, São Carlos, SP 13565-905, Brazil
Several configurations of UAVs were proposed in the literature, each one fulfilling different requirements, such as fixed-wing and vertical takeoff and landing (VTOL) UAVs. Another design that merges these two configurations is the tailsitter, a fixed-win
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