Model Based Reduced Complexity Control of a Small UAV

Peter Ortner; Engelbert Grünbacher; Philipp Scherz; Luigi del Re

Model Based Reduced Complexity Control of a Small UAV

Peter Ortner
, Engelbert Grünbacher
, Philipp Scherz
, Luigi del Re

Institute of Design and Control of Mechatronical Systems

Research output: Chapter in Book/Report/Conference proceeding › Conference proceedings › peer-review

Abstract

In this paper we study the problem of autopilot design for a small Unmanned Aerial Vehicle (UAV). To this end a 12th order nonlinear model is introduced and a strategy for waypoint tracking is presented. Two control strategies, a dynamic inversion approach and a P controller, are designed. Waypoint tracking maneuvers in lateral and longitudinal direction are compared using the Aerosonde simulation model. Under windy conditions the tracking results of both controllers look similar which makes the P controller more attractive due to its simplicity. The P controller is finally extended to control the real UAV the Multiplex Twinstar II. Measurements show that the presented and implemented control law is appropriate for smooth flight maneuvers.

Original language	English
Title of host publication	Proceedings of the 3rd International Conference on Mechatronics
Number of pages	6
Publication status	Published - Dec 2008

Fields of science

202 Electrical Engineering, Electronics, Information Engineering
202027 Mechatronics
202034 Control engineering
203027 Internal combustion engines
206001 Biomedical engineering
206002 Electro-medical engineering
207109 Pollutant emission

Cite this

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title = "Model Based Reduced Complexity Control of a Small UAV",

abstract = "In this paper we study the problem of autopilot design for a small Unmanned Aerial Vehicle (UAV). To this end a 12th order nonlinear model is introduced and a strategy for waypoint tracking is presented. Two control strategies, a dynamic inversion approach and a P controller, are designed. Waypoint tracking maneuvers in lateral and longitudinal direction are compared using the Aerosonde simulation model. Under windy conditions the tracking results of both controllers look similar which makes the P controller more attractive due to its simplicity. The P controller is finally extended to control the real UAV the Multiplex Twinstar II. Measurements show that the presented and implemented control law is appropriate for smooth flight maneuvers.",

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N2 - In this paper we study the problem of autopilot design for a small Unmanned Aerial Vehicle (UAV). To this end a 12th order nonlinear model is introduced and a strategy for waypoint tracking is presented. Two control strategies, a dynamic inversion approach and a P controller, are designed. Waypoint tracking maneuvers in lateral and longitudinal direction are compared using the Aerosonde simulation model. Under windy conditions the tracking results of both controllers look similar which makes the P controller more attractive due to its simplicity. The P controller is finally extended to control the real UAV the Multiplex Twinstar II. Measurements show that the presented and implemented control law is appropriate for smooth flight maneuvers.

AB - In this paper we study the problem of autopilot design for a small Unmanned Aerial Vehicle (UAV). To this end a 12th order nonlinear model is introduced and a strategy for waypoint tracking is presented. Two control strategies, a dynamic inversion approach and a P controller, are designed. Waypoint tracking maneuvers in lateral and longitudinal direction are compared using the Aerosonde simulation model. Under windy conditions the tracking results of both controllers look similar which makes the P controller more attractive due to its simplicity. The P controller is finally extended to control the real UAV the Multiplex Twinstar II. Measurements show that the presented and implemented control law is appropriate for smooth flight maneuvers.

M3 - Conference proceedings

BT - Proceedings of the 3rd International Conference on Mechatronics

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