Dynamics and Control of Fixed-wing UAV 03 March HKU robotics short...Dynamics and Control of Fixed-wing UAV Moncrief-O’Donnell Chair, UTA Research Institute (UTARI) The University

Dynamics and Control ofFixed-wing UAV

Moncrief-O’Donnell Chair, UTA Research Institute (UTARI)The University of Texas at Arlington, USA

F.L. Lewis, NAI

Director, Key Laboratory of Autonomous Systems and Network Control, MoESouth China University of Technology, Guangzhou

Hai-Long Pei

and

Moncrief-O’Donnell Chair, UTA Research Institute (UTARI)The University of Texas at Arlington, USA

and

F.L. Lewis, NAI

Talk available online at http://www.UTA.edu/UTARI/acs

Dynamics and Control ofFixed-wing UAV

Qian Ren Consulting Professor, State Key Laboratory of SyntheticalAutomation for Process Industries

Northeastern University, Shenyang, China

Supported by :NSF AFOSR EuropeONR – Marc SteinbergUS TARDEC

Supported by :China NNSFChina Project 111

B.L. Stevens, F.L. Lewis, and E.N. Johnson, Aircraft Control and Simulation: Dynamics, Control, and Autonomous Systems, John Wiley and Sons, New York, Third Edition, 2015.

p. 76

xyzUVW

X

PQR

Position

Linear velocity

Angular position –attitudes

Angular velocity

The Aircraft States

xyzUVW

X

PQR

Position

Linear velocity

Angular position –attitudes

Angular velocity

The Aircraft States

Roll

Pitch

yaw

Flight dynamics of fixed wing UAV

• The earth‐fixed reference frame• The body‐fixed reference frame

Hai‐Long Pei, SCUT

Flight dynamics of fixed wing UAVHai‐Long Pei, SCUT

Flight dynamics of fixed wing UAV

• The standard control surfaces:– Ailerons (rolling)– Elevator (pitching)– Rudder (yawing)

Hai‐Long Pei, SCUT

Flight dynamics of fixed wing UAVHai‐Long Pei, SCUT

Flight dynamics of fixed wing UAVHai‐Long Pei, SCUT

Flight dynamics of fixed wing UAV

• The Plant

Hai‐Long Pei, SCUT

p. 111

p. 118

Flight dynamics of fixed wing UAVHai‐Long Pei, SCUT

Longitudinal Dynamics

Ex Ax Bu

p. 127

Longitudinal DynamicsLateral‐Directional Dynamics

Angle of attackPitch rateTotal velocitypitch

p. 206

x Ax Bu

s j

j

angle of attack and pitch rate q

total velocityand pitch

Tv

p. 259

p. 261

Ex Ax Bu

Lateral‐Directional Dynamicsp. 128

SideslipRollRoll rateYaw rate

p. 207

x Ax Bu

s j

j

roll rate p

roll rate p and yaw rate r

roll angle 

Control of fixed wing UAV

• Cascade control structure

Hai‐Long Pei, SCUT

SASCASautopilots

Aircraft Control Systems

Stability Augmentation Systems ‐ SAS

Control Augmentation Systems ‐ CAS

Autopilots

p. 257

4.4 STABILITY AUGMENTATION SYSTEMS p. 287

Damps out the dutch roll mode

Use lateral dynamics

p. 304

Use short period approximation dynamics

p. 311

Use longitudinal dynamics

Use lateral‐directional dynamics

p. 330

Steady‐state turn

NAVIGATIONAL AUTOPILOTS p. 343

Holds constant compass heading

Homes in on radar beacon

Radarbeacon

a/c

p. 335

Glide path

Glide path angle  Tv

Off glide‐pathDistance d

Control of fixed wing UAV

• Way point control

Hai‐Long Pei, SCUT

Aircraft Simulation‐ nonlinear F‐16 aircraft