dc.contributor.author | Coates, Erlend M. | |
dc.contributor.author | Fossen, Thor I. | |
dc.date.accessioned | 2021-04-30T09:29:41Z | |
dc.date.available | 2021-04-30T09:29:41Z | |
dc.date.created | 2021-04-29T08:06:49Z | |
dc.date.issued | 2021 | |
dc.identifier.citation | Applied Sciences. 2021, 11 (7), . | en_US |
dc.identifier.issn | 2076-3417 | |
dc.identifier.uri | https://hdl.handle.net/11250/2740547 | |
dc.description.abstract | This paper presents nonlinear, singularity-free autopilot designs for multivariable reduced-attitude control of fixed-wing aircraft. To control roll and pitch angles, we employ vector coordinates constrained to the unit two-sphere and that are independent of the yaw/heading angle. The angular velocity projected onto this vector is enforced to satisfy the coordinated-turn equation. We exploit model structure in the design and prove almost global asymptotic stability using Lyapunov-based tools. Slowly-varying aerodynamic disturbances are compensated for using adaptive backstepping. To emphasize the practical application of our result, we also establish the ultimate boundedness of the solutions under a simplified controller that only depends on rough estimates of the control-effectiveness matrix. The controller design can be used with state-of-the-art guidance systems for fixed-wing unmanned aerial vehicles (UAVs) and is implemented in the open-source autopilot ArduPilot for validation through realistic software-in-the-loop (SITL) simulations. | en_US |
dc.language.iso | eng | en_US |
dc.publisher | MDPI | en_US |
dc.rights | Navngivelse 4.0 Internasjonal | * |
dc.rights.uri | http://creativecommons.org/licenses/by/4.0/deed.no | * |
dc.title | Geometric Reduced-Attitude Control of Fixed-Wing UAVs | en_US |
dc.type | Peer reviewed | en_US |
dc.type | Journal article | en_US |
dc.description.version | publishedVersion | en_US |
dc.source.pagenumber | 34 | en_US |
dc.source.volume | 11 | en_US |
dc.source.journal | Applied Sciences | en_US |
dc.source.issue | 7 | en_US |
dc.identifier.doi | https://doi.org/10.3390/app11073147 | |
dc.identifier.cristin | 1907112 | |
dc.relation.project | Norges forskningsråd: 223254 | en_US |
dc.relation.project | Norges forskningsråd: 261791 | en_US |
cristin.ispublished | true | |
cristin.fulltext | original | |
cristin.qualitycode | 1 | |