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Article
Nonlinear Control of Fixed-Wing UAVs in Presence of Stochastic Winds
Communications in Nonlinear Science and Numerical Simulation (2016)
  • Jaime Rubio Hervas, Nanyang Technological University, Singapore
  • Mahmut Reyhanoglu, Embry-Riddle Aeronautical University - Daytona Beach
  • Hui Tang, Hong Kong Polytechnic University
  • Erdal Kayacan, Nanyang Technological University, Singapore
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."--From the publisher's website.
Keywords
  • unmanned aerial vehicles,
  • wind effects,
  • nonlinear control
Publication Date
April, 2016
DOI
https://doi.org/10.1016/j.cnsns.2015.08.026
Citation Information
Jaime Rubio Hervas, Mahmut Reyhanoglu, Hui Tang and Erdal Kayacan. "Nonlinear Control of Fixed-Wing UAVs in Presence of Stochastic Winds" Communications in Nonlinear Science and Numerical Simulation Vol. 33 (2016) p. 57 - 69 ISSN: 1007-5704
Available at: http://works.bepress.com/mahmut_reyhanoglu/47/