Design of Dynamic Inversion and Explicit Model Following Flight Control Laws for Quadrotor UAS

被引：10

作者：

Saetti, Umberto ^{[1
]}

Horn, Joseph F. ^{[1
]}

Lakhmani, Sagar ^{[2
]}

Lagoa, Constantino ^{[2
]}

Berger, Tom ^{[3
]}

机构：

[1] Penn State Univ, Dept Aerosp Engn, University Pk, PA 16802 USA

[2] Penn State Univ, Dept Elect Engn, University Pk, PA 16802 USA

[3] US Army Aviat Dev Directorate, Moffett Field, CA USA

来源：

JOURNAL OF THE AMERICAN HELICOPTER SOCIETY | 2020年 / 65卷 / 03期

关键词：

Antennas;

D O I：

10.4050/JAHS.65.032006

中图分类号：

V [航空、航天];

学科分类号：

08 ; 0825 ;

摘要：

The objectives of this paper are to advance dynamic inversion (DI) and explicit model following (EMF) flight control laws for quadrotor unmanned aerial systems (UAS) and to develop an efficient strategy to compute the stability and performance robustness statistics of such control laws given parametric model uncertainty. For this purpose, a parametric model of a quadrotor is identified from flight-test data. The identified model is validated both in frequency and time domains. Next, DI and EMF flight control laws are designed for both inner attitude and outer velocity loops. Finally, a novel approach based on an unscented transform is used to evaluate the statistics of the controller's performance based on the statistics of the uncertain model parameters.

引用

页数：16

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