Paper Info
Title
Implementation and investigation of a robust control algorithm for an unmanned micro-aerial vehicle
Abstract
This paper presents a new method for implementation and realization of an optimal robust control algorithm in the real-time hardware-in-the-loop simulation environment for a mathematical model of the dynamics of the BULLIT micro-aircraft, with consideration of non-linearity, uncertainty, and non-stationarity of its parameters. The robust optimal control method, µ -Synthesis, applied to the autonomous flight dynamics control system of the unmanned aerial vehicle (UAV) meets desired control performances. The serial connection between the Gumstix micro-computer and the Kestrel autopilot extends the ability to implement high order robust controllers. The code of the control algorithm implemented (in the C++ language) in the memory of a Gumstix Verdex Pro single-chip micro-computer enables optimization of the threads-based approach. The hardware-in-the-loop (HIL) simulation mode was implemented in the Kestrel autopilot inner loop, and simulations of all stages of flight were performed in real-time using the actual model of the aircraft and autopilot. Finally, HIL simulations and tests were conducted in order to verify the developed control algorithm. New method for implementation and realization of an robust control algorithm.Hardware-in-the-loop simulations for a micro-UAV.Consideration of non-linearity, uncertainty, and non-stationarity of UAV's parameters.The µ -Synthesis method applied to the UAV's dynamics control.The serial connection between the Gumstix micro-computer and the Kestrel autopilot.
Year
DOI
Venue
2014
10.1016/j.robot.2014.04.002
Robotics and Autonomous Systems
Keywords
Field
DocType
Micro unmanned aerial vehicle (,UAV),BULLIT,-Synthesis,Robust control,Real-time hardware-in-the-loop simulation
Inner loop,Optimal control,Simulation,Computer science,Serial port,Thread (computing),Autopilot,Control system,Robust control,Flight dynamics
Journal
Volume
Issue
ISSN
62
8
0921-8890
Citations 
PageRank 
References 
1
0.39
1
Authors
1
Name
Order
Citations
PageRank
Arkadiusz Mystkowski142.87