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Control of a VTOL UAV via Online Parameter Estimation

Chowdhary, Girish and Lorenz, Sven (2005) Control of a VTOL UAV via Online Parameter Estimation. AIAA Guidance, Navigation, and Control Conference and Exhibit, 2005-08-15 - 2005-08-18, San Francisco, California, USA.

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Official URL: http://pdf.aiaa.org/getfile.cfm?urlX=5%3A7I%276D%26X%5BBW%23SPOUWT%5B%5EP%3B%3B94%2AL%2C%0A&urla=%25%2B%22H%22%22%40L%20%0A&urlb=%21%2A%20%20%20%0A&urlc=%21%2A%20%20%20%0A&urle=%27%2A%22X%26%23%402DT%20%20%20%0A&urlf=%27%2A%22X%26%23%402DW%40%20%20%0A


Due to their ability to hover and to fly “low and slow” VTOL UAVs are of extreme strategic importance. The task of control of VTOL UAVs is however complicated as they exhibit highly coupled nonlinear dynamics and inherent instability. These intricacies limit the performance of linear control techniques since a single linearized state space model represents only a limited part of the flight envelope. Moreover, in case of miniature rotorcraft UAVs, the problem is often accentuated due to inaccurate linear modeling, noisy sensor measurements and external disturbances. In this paper, a control architecture is presented which extends the validity of a linear optimal full state feedback law via online parameter identification and parameter dependent adaptive control. An Extended Kalman Filter is used for the combined problem of state and parameter estimation. Based on the estimated parameters the state feedback gain is calculated by solving the Riccatti equation for quadratic optimized control online. Online estimates of trim values are added to the inputs to account for varying trim conditions. The parameter identification algorithm is tested with flight data and validated against an identified linear model. The control architecture is tested in Software In The Loop simulation and in realtime with Hardware in the Loop simulation. The robust performance of the control architecture in presence of noisy data, parameter uncertainties, external disturbances and unknown trim conditions indicate the feasibility of such an approach for the control of miniature VTOL UAVs.

Item URL in elib:https://elib.dlr.de/44277/
Document Type:Conference or Workshop Item (Speech, Paper)
Title:Control of a VTOL UAV via Online Parameter Estimation
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Date:15 August 2005
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Keywords:Regelung, Systemidentifizierung, Adaptiv, Control, SystemID, VTOL, UAV, LQR, EKF, ARTIS, Adaptiv, Control, SystemID, VTOL, UAV, LQR, EKF, ARTIS
Event Title:AIAA Guidance, Navigation, and Control Conference and Exhibit
Event Location:San Francisco, California, USA
Event Type:international Conference
Event Dates:2005-08-15 - 2005-08-18
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:other
HGF - Program Themes:other
DLR - Research area:Aeronautics
DLR - Program:L - no assignment
DLR - Research theme (Project):L - no assignment (old)
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > System Automation
Deposited By: Lorenz, Dr. Sven
Deposited On:25 Sep 2006
Last Modified:12 Dec 2013 20:20

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