Print Email Facebook Twitter An Underactuated Control System Design for Adaptive Autopilot of Fixed-Wing Drones Title An Underactuated Control System Design for Adaptive Autopilot of Fixed-Wing Drones Author Baldi, S. (TU Delft Team Bart De Schutter; Southeast University) Roy, Spandan (International Institute of Information Technology) Yang, Kang (Southeast University) Liu, Di (Rijksuniversiteit Groningen; Southeast University) Date 2022 Abstract Effective design of autopilots for fixed-wing unmanned aerial vehicles (UAVs) is still a great challenge, due to unmodeled effects and uncertainties that these vehicles exhibit during flight. Unmodeled effects and uncertainties comprise longitudinal/lateral cross-couplings, as well as poor knowledge of equilibrium points (trimming points) of the UAV dynamics. The main contribution of this article is a new adaptive autopilot design, based on uncertain Euler-Lagrange dynamics of the UAV and where the control can explicitly take into account under-actuation in the dynamics, reduced structural knowledge of cross-couplings and trimming points. This system uncertainty is handled via appropriately designed adaptive laws: stability of the controlled UAV is analyzed. Hardware-in-the-loop tests, comparisons with an Ardupilot autopilot and with a robustified autopilot validate the effectiveness of the control design, even in the presence of strong saturation of the UAV actuators. Subject Adaptive controlAerodynamicsAutonomous aerial vehiclesAutopilotautopilotfixed-wing unmanned aerial vehical (UAV)Mathematical modelsPropellersUncertaintyVehicle dynamics To reference this document use: http://resolver.tudelft.nl/uuid:9d7f02a4-8d64-4568-b97f-08bb5dd7ee69 DOI https://doi.org/10.1109/TMECH.2022.3144459 Embargo date 2023-07-01 ISSN 1083-4435 Source IEEE - ASME Transactions on Mechatronics, 27 (5), 4045-4056 Bibliographical note Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. Part of collection Institutional Repository Document type journal article Rights © 2022 S. Baldi, Spandan Roy, Kang Yang, Di Liu Files PDF An_Underactuated_Control_ ... Drones.pdf 2.82 MB Close viewer /islandora/object/uuid:9d7f02a4-8d64-4568-b97f-08bb5dd7ee69/datastream/OBJ/view