Engineering of fast and robust adaptive control for fixed-wing unmanned aircraft
Beall, Ryan G.
Yakimenko, Oleg A.
Dobrokhodov, Vladimir N.
Papoulias, Fotis A.
MetadataShow full item record
As the demand for Unmanned Aerial System (UAS) technology increases, the current guidance, navigation, and control (GNC) algorithms will scale poorly to meet the demand because currently, significant resources are required to certify flight controllers on an individual platform basis. As different airframes are introduced to meet the expanding mission requirements, the resources required to sustain the GNC certification demand will become a limiting factor in scalability. The feasibility of replacing conventional GNC techniques with modern adaptive control theory was conducted on a commercial-off-the-shelf (COTS) open-source autopilot. This enabled rapid prototyping and integration of an adaptive controller. The adaptive controller architecture was designed to be aircraft non-specific. This ensures the controller easily integrates into any aircraft, therefore minimizing the resource burden of tuning and certification. The adaptive controller tested in this research improved performance over the baseline controller and was rapidly integrated on multiple various airframes with minimal resources. Improved performance over classical feedback was achieved with fast and robust adaptation in multiple regimes of flight.
Approved for public release; distribution is unlimited
Showing items related by title, author, creator and subject.
Nagashima, M.; Agrawal, B.N. (2012);For a large Adaptive Optics (AO) system such as a large Segmented Mirror Telescope (SMT), it is often difficult, although not impossible, to directly apply common Multi-Input Multi-Output (MIMO) controller design methods ...
Allen, M.; Kim, J.J.; Agrawal, B.N. (2008);Future space based deployable telescopes will be subject to non-atmospheric disturbances. Jitter and optical misalignment on a spacecraft can be caused by mechanical noise of the spacecraft, and settling after maneuvers. ...
Development of precision pointing controllers with and without vibration suppression for the NPS precision pointing hexapod Bishop, Ronald Michael (Monterey, California. Naval Postgraduate School, 2002-12);Satellite optical payloads demand better vibration control and finer precision pointing than ever before. Fortunately, the Stewart-Gough platform offers the potential of accomplishing both of these simultaneously. Using ...