Nonlinear modeling and control of coupled dynamics of a fixed wing micro air vehicle
2016 Indian Control Conference (ICC)(2016)
摘要
In this paper, we consider the nonlinear modeling and control design for coupled longitudinal and lateral dynamics of a fixed wing micro air vehicle (MAV) of span 150 mm. It is shown that propeller wake and counter torque has significant effects on the dynamics of the MAV. Severe coupling between longitudinal and lateral dynamics drives the requirement for control system design for unconventional higher dimensional state space model. The controller takes the structure of static output feedback possessing robustness against parametric uncertainties. The proposed controller is simulated using six degree of freedom nonlinear model of the MAV under Dryden wind disturbances.
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关键词
nonlinear modeling,nonlinear control,coupled dynamics,fixed wing micro air vehicle,control design,coupled longitudinal dynamics,coupled lateral dynamics,propeller wake,counter torque,MAV,control system design,unconventional higher dimensional state space model,static output feedback possessing robustness,parametric uncertainties,six degree of freedom nonlinear model,Dryden wind disturbances
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