Título:
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Modelling and adaptive backstepping control for TX-1570 UAV pathtracking
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Autor/a:
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Cayero Becerra, Julián Francisco; Morcego Seix, Bernardo; Nejjari Akhi-Elarab, Fatiha
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Otros autores:
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Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. SIC - Sistemes Intel·ligents de Control; Universitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control |
Abstract:
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The methodology to design an aircraft longitudinal path-tracking controller is shown in this paper. First a thorough modelling process which involves the estimation of the aerodynamic and propulsion system structure and parameters is carried out. Next, the Lyapunov based backstepping methodology is applied to design a non-linear controller for the aircraft longitudinal dynamics. The used procedure ensures the convergence of the system to a reference and the robustness in presence of modelling errors. The derived controller delivers manipulated inputs for a real plant and takes into account subsystem and model constraints. Finally, the performance of the controlled system to track a realistic path is demonstrated in front of parameter uncertainty, unmodelled dynamics and adverse initial conditions. |
Abstract:
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Peer Reviewed |
Materia(s):
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-Àrees temàtiques de la UPC::Informàtica::Automàtica i control -Automatic control -Drone aircraft -UAV
Modelling
Backstepping control
Adaptive control -Avions no tripulats -Control automàtic |
Derechos:
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Tipo de documento:
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Artículo - Versión publicada Artículo |
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