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- W2997809692 abstract "Agile fixed-wing aircraft combine the fast and efficient characteristics of conventional fixedwing platforms with the high maneuverability and precision of rotorcraft. To expand their range of application, a key challenge is the development of control systems that harness this increased maneuverability, with the goal of enhancing or expanding the possible motions of conventional fixed-wing flight. Thiswork presents a control architecture that enables agile fixedwing platforms to track a time-parametrized, three-dimensional position trajectory which is unconstrained by common limitations arising from an aircraft kinematic model assumption, including minimum airspeed, heading rate, and climb rate. The proposed system is a cascaded controller designed in two parts. First, a singularity-free, quaternion-based inner attitude control loop is designed to track attitude references. Then, an outer position control loop is constructed to determine the required thrust force and reference attitude that will drive the inertial position errors to zero. This outer loop is a hybrid controller, consisting of a control strategy for the steady regime and another for agile maneuvers. A switching logic is derived to ensure that any change of position controller occurs when the two stability regions overlap, retaining stability for the overall system. The resulting controller does not require any attitude reference to perform aggressive maneuvers, greatly simplifying the trajectory generation problem. Controller performance is first verified through numerical simulation using a high-fidelity aircraft model. A Software in the Loop simulation, which accounts for sensor noise, state estimation, and discrete-time implementation of the control algorithm, is performed before finally implementing the control system on a physical platform. Preliminary results show the control system enables the aircraft to perform a series of maneuvers often deemed infeasible for fixed-wing aircraft, thus greatly enhancing the usefulness of the platform." @default.
- W2997809692 created "2020-01-10" @default.
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- W2997809692 date "2020-01-05" @default.
- W2997809692 modified "2023-10-14" @default.
- W2997809692 title "Trajectory Tracking Control of Highly Maneuverable Fixed-Wing Unmanned Aerial Vehicles" @default.
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- W2997809692 doi "https://doi.org/10.2514/6.2020-2074" @default.
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