Nonlinear control of fixed-wing UAVs in presence of stochastic winds

Jaime Rubio Hervas, Mahmut Reyhanoglu, Hui Tang, Erdal Kayacan

Research output: Journal article publicationJournal articleAcademic researchpeer-review

22 Citations (Scopus)

Abstract

This paper studies the control of fixed-wing unmanned aerial vehicles (UAVs) in the presence of stochastic winds. A nonlinear controller is designed based on a full nonlinear mathematical model that includes the stochastic wind effects. The air velocity is controlled exclusively using the position of the throttle, and the rest of the dynamics are controlled with the aileron, elevator, and rudder deflections. The nonlinear control design is based on a smooth approximation of a sliding mode controller. An extended Kalman filter (EKF) is proposed for the state estimation and filtering. A case study is presented: landing control of a UAV on a ship deck in the presence of wind based exclusively on LADAR measurements. The effectiveness of the nonlinear control algorithm is illustrated through a simulation example.
Original languageEnglish
Pages (from-to)57-69
Number of pages13
JournalCommunications in Nonlinear Science and Numerical Simulation
Volume33
DOIs
Publication statusPublished - 1 Jan 2016

Keywords

  • Extended Kalman filter
  • Nonlinear control
  • State estimation

ASJC Scopus subject areas

  • Numerical Analysis
  • Modelling and Simulation
  • Applied Mathematics

Cite this