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

Dauer, Johann C. and Faulwasser, Timm and 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), pp. 1779-1785. IEEE. IEEE Multi-Conference on Systems and Control (MSC), 21.-23. September 2015, Sydney, Australien. DOI: 10.1109/CCA.2015.7320867

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

Abstract

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.

Item URL in elib:https://elib.dlr.de/100689/
Document Type:Conference or Workshop Item (Speech)
Title:Run-to-Run Disturbance Rejection for Feedforward Path Following of an Adaptively Controlled Unmanned Helicopter
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Dauer, Johann C.Johann.Dauer (at) dlr.deUNSPECIFIED
Faulwasser, Timmtimm.faulwasser (at) kit.eduUNSPECIFIED
Lorenz, Svensven.lorenz (at) dlr.deUNSPECIFIED
Date:21 September 2015
Journal or Publication Title:2015 IEEE Conference on Control Applications (CCA)
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
DOI :10.1109/CCA.2015.7320867
Page Range:pp. 1779-1785
Publisher:IEEE
Status:Published
Keywords: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
Event Title:IEEE Multi-Conference on Systems and Control (MSC)
Event Location:Sydney, Australien
Event Type:international Conference
Event Dates:21.-23. September 2015
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:rotorcraft
DLR - Research area:Aeronautics
DLR - Program:L RR - Rotorcraft Research
DLR - Research theme (Project):L - The Smart Rotorcraft
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > Unmanned Aircraft
Deposited By: Dauer, Johann
Deposited On:17 Dec 2015 10:30
Last Modified:10 May 2016 23:37

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