Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles

作者：Poksawat Pakorn^*; Wang Liuping; Mohamed Abdulghani

来源：IET Control Theory and Applications, 2016, 10(17): 2233-2242.

DOI：10.1049/iet-cta.2016.0236

• autonomous aerial vehicles
• attitude control
• closed loop systems
• frequency response
• open loop systems
• delays
• stability
• attitude control system
• automatic tuning
• fixed-wing unmanned aerial vehicles
• UAV
• critically stable open-loop poles
• unstable open-loop poles
• closed-loop relay feedback
• open-loop frequency response
• time delay plus integrator models

In this study, an automatic tuning approach for attitude control system of fixed-wing unmanned aerial vehicles (UAVs) is proposed. The main advantage of this approach is that it can be performed on systems with unstable or critically stable open-loop poles and since UAVs are integrating systems, the method is particularly suitable for this application. A closed-loop relay feedback experiment is conducted to identify the system's open-loop frequency response. The time delay plus integrator models of both inner and outer loops are then identified. The controller's parameters are calculated based on specified gain and phase margins. Wind tunnel experimental results are used to validate the closed-loop performance of a fixed-wing UAV tuned with the proposed methodology.

• 出版日期2016-11-21