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Run-to-Run Disturbance Rejection for Feedforward Path Following of an Adaptively Controlled Unmanned Helicopter

Dauer, Johann C. und Faulwasser, Timm und Lorenz, Sven (2015) Run-to-Run Disturbance Rejection for Feedforward Path Following of an Adaptively Controlled Unmanned Helicopter. In: 2015 IEEE Conference on Control Applications (CCA), Seiten 1779-1785. IEEE. IEEE Multi-Conference on Systems and Control (MSC), 2015-09-21 - 2015-09-23, Sydney, Australien. doi: 10.1109/CCA.2015.7320867.

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Offizielle URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7320867&isnumber=7320604

Kurzfassung

We present a scheme for run-to-run disturbance rejection in optimization-based feedforward path following of a remotely piloted aircraft system (RPAS). The proposed scheme is based on the inter-run estimation of unknown disturbances, such as wind induced forces and model uncertainties. These disturbance estimates are introduced in an optimal control problem used to compute feedforward controls. In order to achieve good run-to-run disturbance rejection, the structure of the underlying stabilizing flight control of the RPAS is taken into account. In this work, we consider flight control based on adaptive reference following and the special case of the unmanned helicopter ARTIS. We present simulation results and flight test data. These results underpin that the proposed approach significantly decreases flight path deviations in a run-to-run fashion.

elib-URL des Eintrags:https://elib.dlr.de/100689/
Dokumentart:Konferenzbeitrag (Vortrag)
Titel:Run-to-Run Disturbance Rejection for Feedforward Path Following of an Adaptively Controlled Unmanned Helicopter
Autoren:
AutorenInstitution oder E-Mail-AdresseAutoren-ORCID-iDORCID Put Code
Dauer, Johann C.Johann.Dauer (at) dlr.dehttps://orcid.org/0000-0002-8287-2376NICHT SPEZIFIZIERT
Faulwasser, Timmtimm.faulwasser (at) kit.eduNICHT SPEZIFIZIERTNICHT SPEZIFIZIERT
Lorenz, Svensven.lorenz (at) dlr.dehttps://orcid.org/0000-0002-2133-227XNICHT SPEZIFIZIERT
Datum:21 September 2015
Erschienen in:2015 IEEE Conference on Control Applications (CCA)
Referierte Publikation:Ja
Open Access:Nein
Gold Open Access:Nein
In SCOPUS:Nein
In ISI Web of Science:Nein
DOI:10.1109/CCA.2015.7320867
Seitenbereich:Seiten 1779-1785
Verlag:IEEE
Status:veröffentlicht
Stichwörter:aerospace testing; aircraft control; autonomous aerial vehicles; feedforward; helicopters; model reference adaptive control systems; optimal control; optimisation; path planning; stability; wind; ARTIS; RPAS; adaptive reference; adaptively controlled unmanned helicopter; disturbance estimates; feedforward controls; flight path deviations; flight test data; inter-run estimation; model uncertainties; optimal control problem; optimization-based feedforward path following; remotely piloted aircraft system; run-to-run disturbance rejection; stabilizing flight control; unknown disturbances; wind induced forces; Acceleration; Adaptation models; Aerodynamics; Control systems; Feedforward neural networks; Helicopters; Optimization; adaptive control; feedforward path following; model reference control; remotely piloted aircraft system; run-to-run disturbance rejection; unmanned aircraft system; unmanned helicopter
Veranstaltungstitel:IEEE Multi-Conference on Systems and Control (MSC)
Veranstaltungsort:Sydney, Australien
Veranstaltungsart:internationale Konferenz
Veranstaltungsbeginn:21 September 2015
Veranstaltungsende:23 September 2015
Veranstalter :IEEE
HGF - Forschungsbereich:Luftfahrt, Raumfahrt und Verkehr
HGF - Programm:Luftfahrt
HGF - Programmthema:Hubschrauber
DLR - Schwerpunkt:Luftfahrt
DLR - Forschungsgebiet:L RR - Rotorcraft Research
DLR - Teilgebiet (Projekt, Vorhaben):L - Der intelligente Drehflügler (alt)
Standort: Braunschweig
Institute & Einrichtungen:Institut für Flugsystemtechnik > Unbemannte Luftfahrzeuge
Hinterlegt von: Dauer, Johann C.
Hinterlegt am:17 Dez 2015 10:30
Letzte Änderung:24 Apr 2024 20:06

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