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System Identification and Parameter Space Control Design for a Small Unmanned Aircraft

Fialho Coelho, Andre (2017) System Identification and Parameter Space Control Design for a Small Unmanned Aircraft. Bachelor's. DLR-Interner Bericht. DLR-IB-RM-OP-2017-164, 57 S.

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Abstract

Initial tests in cooperative control for autonomous landings of an Unmanned Aerial Vehicle (UAV) on a moving car have presented promising results. However, the identification of a high-fidelity simulation model is a step of great importance towards the development of more effective model predictive control strategies, which rely on precise models to allow cooperative control of High Altitude, Long Endurance (HALE) UAVs with autonomous ground vehicles. In this context, this work aims to develop a reliable model for the Penguin BE aircraft used in cooperative landing tests at the German Aerospace Center (DLR), and to design a high-performance pitch attitude controller applying the parameter space approach. The system identification procedure has been carried out by applying both, the Output Error and the Two Step methods, and a linear longitudinal model of the aircraft has been developed. Parameter Space Control has been applied to the identified model in order to suggest a set of alternative gains to the ones that are currently in use, which have been fine-tuned in flight, using the Ziegler-Nichols method, which will not be viable in the scope of stratospheric missions.

Item URL in elib:https://elib.dlr.de/114216/
Document Type:Monograph (DLR-Interner Bericht, Bachelor's)
Title:System Identification and Parameter Space Control Design for a Small Unmanned Aircraft
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Fialho Coelho, Andreandre.coelho (at) dlr.deUNSPECIFIED
Date:September 2017
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Number of Pages:57
Status:Published
Keywords:System Identification, Parameter Space Control Design, Output Error Method, Two Step Method, UAV
Institution:Instituto Federal Fluminense (IFF), Campos, Brazil
Department:School of Control and Automation Engineering
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Muskardin, Tin
Deposited On:07 Dec 2017 16:24
Last Modified:31 Jul 2019 20:11

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