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On the Actuator Dynamics of Dynamic Control Allocation for a Small Fixed-Wing UAV With Direct Lift Control
IEEE Transactions on Control Systems Technology ( IF 4.8 ) Pub Date : 2020-03-24 , DOI: 10.1109/tcst.2019.2945909
Yunda Yan , Jun Yang , Cunjia Liu , Matthew Coombes , Shihua Li , Wen-Hua Chen

A novel dynamic control allocation method is proposed for a small fixed-wing unmanned aerial vehicle (UAV), whose flaps can be actuated as fast as other control surfaces, offering an extra way of changing the lift directly. The actuator dynamics of this kind of UAVs, which may be sluggish comparing with the UAV dynamics, should also be considered in the control design. To this end, a hierarchical control allocation architecture is developed. A disturbance observer-based high-level tracking controller is first designed to accommodate the lagging effect of the actuators and to compensate the adverse effect of external disturbances. Then, a dynamic control allocator based on a receding-horizon performance index is developed, which forces the actuator state in the low level to follow the optimized reference. Compared with the conventional control allocation method that assumes ideal actuators with infinite bandwidths, higher tracking accuracy of the UAV and better energy efficiency can be achieved by the proposed method. Stability analysis and high-fidelity simulations both demonstrate the effectiveness of the proposed method, which can be deployed on different fixed-wing UAVs with flaps to achieve better performance.

中文翻译:

具有直接升力控制的小型固定翼无人机动态控制分配的执行器动力学

提出了一种新颖的动态控制分配方法,用于小型固定翼无人机(UAV),其襟翼可以像其他控制面一样快地被致动,为直接改变升力提供了额外的途径。这种无人飞行器的执行器动力学与无人飞行器动力学相比可能比较迟钝,在控制设计中也应考虑。为此,开发了分级控制分配架构。首先设计基于干扰观测器的高级跟踪控制器,以适应执行器的滞后效应并补偿外部干扰的不利影响。然后,开发了基于水平后退性能指标的动态控制分配器,该分配器强制执行器处于低水平,以遵循优化的参考值。与假定理想驱动器具有无限带宽的传统控制分配方法相比,该方法可以实现无人机的更高跟踪精度和更高的能效。稳定性分析和高保真仿真都证明了该方法的有效性,该方法可以部署在带有襟翼的不同固定翼无人机上,以实现更好的性能。
更新日期:2020-04-22
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