文章基本信息

标题：Hybrid Control of Fixed-Wing UAVs for Large-Angle Attitude Maneuvers on the Two-Sphere ⁎
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作者：Dirk Reinhardt ; Erlend. M. Coates ; Tor Arne Johansen 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：5717-5724
DOI：10.1016/j.ifacol.2020.12.1599
语种：English
出版社：Elsevier
摘要：AbstractWe propose the design of a hybrid controller for fixed-wing unmanned aerial vehicles which guarantees global exponential tracking of attitude references on the two-sphere. The chosen attitude representation is singularity-free and can be exploited to apply proportional feedback along the shortest path in the natural configuration space, giving it an advantage to conventional design methods based on Euler angle reprentations. The design includes the concept of synergistic potential functions to overcome the problem of a vanishing potential at the additional undesired equilibrium on the compact manifold. It employs proportional-derivative feedback with the relative velocity as an exogeneous input and allows for integration into conventional autopilot architectures. The controller is well-suited for the recovery from large attitude disturbances and the performance is demonstrated in a numerical example.
关键词：KeywordsAircraft controlAutonomous VehiclesAttitude ControlHybrid Control