Abstract
Autonomous landing is a very complex phase of flight for unmanned aerial vehicle (UAV). Adaptive internal model control (AIMC) is proposed and applied on autonomous landing control system in this paper. Controllers are designed based on the decoupled and linearized models of a sample UAV. Estimation of process model is carried out to enhance system robustness, and filter parameter adjustment is proposed to achieve a good dynamic performance. Control effects are compared and analyzed between IMC and AIMC in different wind conditions which demonstrate that AIMC has better performances than IMC. At last, Monte Carlo simulations prove the system stability.
Highlights
Autonomous landing of unmanned aerial vehicle (UAV) has been a key and complex process during the whole stages of flight
Control effects are compared and analyzed between IMC and Adaptive internal model control (AIMC) in different wind conditions which demonstrate that AIMC has better performances than IMC
This paper elaborates a systematic process of controller design using AIMC theory in autonomous landing phase for a fixed-wing UAV
Summary
Autonomous landing of UAV has been a key and complex process during the whole stages of flight. Controller was designed based on the linearized model of longitudinal mode [6]. To achieve a good dynamic performance and strong system robustness, the parameter adjustment and model estimation is proposed We refer to this version of IMC as Adaptive IMC or AIMC. As landing is not a large deviation maneuver from nominal approach flight condition, the controller can be designed based on the decoupled and linearized model. Pitch angle and altitude control is adopted as outer loop for longitudinal direction, PID method is chosen for outer loop control and relevant parameters are selected based on system bandwidth and damping ratio. Yaw angle, and lateral position control are adopted as outer loop for lateral direction, PID method is chosen for outer loop control, and relevant parameters are selected based on system bandwidth and damping ratio.
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