In this paper we present a modular control architecture for unmanned aerial vehicles. Given a stabilizing control law, we aim to improve the performances of the vehicle by means of an internal model regulator. To simplify the design procedure, which especially in the nonlinear case might be fairly complicated, we show how it is possible to compose the separate control modules (stabilization and internal model) in an easy and reliable structure. The proposed technique will be tested on the loitering benchmark: in other words, the UAV is required to follow a target and perform a dynamic trajectory around it.
Internal model-based control for loitering maneuvers of UAVs / Casadei, G; Furieri, L; Mimmo, N; Naldi, R; Marconi, L. - ELETTRONICO. - (2016), pp. 672-677. (Intervento presentato al convegno 2016 European Control Conference, ECC 2016 tenutosi a Aalborg; Denmark nel 29 June 2016 through 1 July 2016) [10.1109/ECC.2016.7810366].
Internal model-based control for loitering maneuvers of UAVs
Furieri, L;Mimmo, N
;Naldi, R;Marconi, L
2016
Abstract
In this paper we present a modular control architecture for unmanned aerial vehicles. Given a stabilizing control law, we aim to improve the performances of the vehicle by means of an internal model regulator. To simplify the design procedure, which especially in the nonlinear case might be fairly complicated, we show how it is possible to compose the separate control modules (stabilization and internal model) in an easy and reliable structure. The proposed technique will be tested on the loitering benchmark: in other words, the UAV is required to follow a target and perform a dynamic trajectory around it.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
