کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
732869 893274 2011 10 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
A small unmanned polar research aerial vehicle based on the composite control method
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
A small unmanned polar research aerial vehicle based on the composite control method
چکیده انگلیسی

Focusing on the polar extreme environment, a composite control method is proposed to finish the polar scientific research task in this paper. Based on the vector field and the linear quadratic regulator (LQR) control method, the small unmanned aerial vehicle can realize precise trajectory following control under wind disturbance. Through vector filed method, system constructs the corresponding vector fields for the planed research trajectory, generates the desired course inputs for the small aerial vehicle. Furthermore, the LQR control method is proposed and utilized as the inner control loop to realize the precise attitude control. Lyapunov stability arguments are used to demonstrate the asymptotic decay of trajectory following errors in the presence of wind disturbances. Experimental flight results are given to show that the small unmanned aerial vehicle can get the high trajectory following performance in the polar environment.

Research highlights
► The vector field are used to generate the desired course inputs for SUAV under wind disturbance.
► The LQR control method is proposed to realize the precise attitude control.
► Lyapunov stability arguments are used to demonstrate the asymptotic decay of trajectory following errors.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechatronics - Volume 21, Issue 5, August 2011, Pages 821–830
نویسندگان
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