Aerospace Science and Technology
Sina Jahandari; Ahmad Kalhor; Babak nadjar Araabi
Abstract
This paper addresses the adaptive control problem of an aircraft and focuses on the task that the pitch angle of the aircraft is required to follow the desired path. Considering the elevator deflection angle as the input and the pitch angle as the output, a mathematical model of the aircraft is derived ...
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This paper addresses the adaptive control problem of an aircraft and focuses on the task that the pitch angle of the aircraft is required to follow the desired path. Considering the elevator deflection angle as the input and the pitch angle as the output, a mathematical model of the aircraft is derived to specify the structure of the system. Three diverse deterministic self-tuning regulators are designed using direct and indirect methods. Assuming that the system is unknown, recursive least squares method is applied to estimate parameters of the system or that of the controller’s. Diophantine equation and minimum degree pole-placement methods are utilized to calculate the control law. Not only do simulation results clearly demonstrate the privilege and effectiveness of the proposed approaches, but also comprehensive discussion is presented to distinguish advantages and disadvantages of them.
Aerospace Science and Technology
Ehasan Zibaei; Mohammad-Ali Amiri Atashgah; Ahmad Kalhor
Volume 12, Issue 2 , October 2019, , Pages 19-33
Abstract
This paper presents a tuned behavior-based guidance algorithm for formation flight of quadrotors. The behavior-based approach provides the basis for the simultaneous realization of different behaviors such as leader following and obstacle avoidance for a group of agents; in our case they are quadcopters. ...
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This paper presents a tuned behavior-based guidance algorithm for formation flight of quadrotors. The behavior-based approach provides the basis for the simultaneous realization of different behaviors such as leader following and obstacle avoidance for a group of agents; in our case they are quadcopters. In this paper optimization techniques are utilized to tune the parameters of a behavior-based guidance algorithm; to compromise between safety, trajectory optimality, and control effort during the formation flight. The tuning is formulated as a constraint optimization problem where the penalty function method is used to secure the safe passage of quadrotors around an obstacle. The guidance subsystem is integrated with a consistent dynamic inversion controller to realize a smooth maneuver of the quadrotors along desired trajectories. For more, MATLAB/Simulink is used as the programming platform. The effectiveness of the tuning method is verified, based on the performance of the closed-loop system in the presence of an overall navigation system uncertainties and actuator lags.