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Structured control law design and robustness assessment for the automatic launch of small UAVs

Bolting, Jan and Biannic, Jean-Marc and Defaÿ, François Structured control law design and robustness assessment for the automatic launch of small UAVs. (2015) In: Advances in Aerospace Guidance, Navigation and Control : Selected Papers of the Third CEAS Specialist Conference on Guidance, Navigation and Control held in Toulouse. Springer International Publishing, 491-507. ISBN 978-3-319-17517-1

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Official URL: http://dx.doi.org/10.1007/978-3-319-17518-8_28

Abstract

Automatic launch is an important capability towards the truly autonomous flight of Unmanned Aerial Vehicles (UAVs) that does not require the presence of an expert pilot, as it is often the case today. In this work a complete approach to the design and robustness assessment of a set of control laws for the automatic launch of fixed-wing UAVs is presented. The proposed control system consists of an airspeed tracking loop and a nested lateral guidance loop. Important nonlinearities such as actuator saturations and signal delays are taken into account for controller synthesis and robustness evaluation. Due to the high risk inherent to flight testing the launch phase, extensive Monte Carlo simulations over the space of model uncertainties and initial launch conditions have been performed on the nonlinear model of a flying-wing type UAV, including atmospheric turbulence. Time consuming Monte Carlo simulations are complemented by testing for robust stability and identifying worst-case performance configurations using Structured Singular Value mu-analysis methods.

Item Type:Book Section
Additional Information:Editors: Bordeneuve-Guibé, Joel, Drouin, Antoine, Roos, Clément (Eds.)
Audience (journal):International peer-reviewed journal
Uncontrolled Keywords:
Institution:Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE-SUPAERO (FRANCE)
French research institutions > Office National d'Etudes et Recherches Aérospatiales - ONERA (FRANCE)
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Deposited By: francois defay
Deposited On:30 Jan 2017 13:41

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