Design of control laws and state observers for fixed-wing UAVs simulation and experimental approaches /

Design of Control Laws and State Observers for Fixed-Wing UAVs: Simulation and Experimental Approaches provides readers with modeling techniques, simulations, and results from real-time experiments using linear and nonlinear controllers and state observers. The book starts with an overview of the hi...

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Detalles Bibliográficos
Clasificación:Libro Electrónico
Autores principales: Espinoza-Fraire, Arturo Tadeo (Autor), Dzul, Alejandro E. (Autor), Morado, Ricardo Pavel Parada (Autor), Esqueda, Jose Armando Saenz (Autor)
Formato: Electrónico eBook
Idioma:Inglés
Publicado: Amsterdam : Elsevier, 2022.
Temas:
Drone aircraft > Control systems.
Linear control systems.
Nonlinear control theory.
Drones > Syst�emes de commande.
Commande lin�eaire.
Commande non lin�eaire.
Drone aircraft > Control systems
Linear control systems
Nonlinear control theory
Acceso en línea:Texto completo
Tabla de Contenidos:
  • Front Cover
  • Design of Control Laws and State Observers for Fixed-Wing UAVs
  • Copyright
  • Contents
  • List of figures
  • List of tables
  • Preface
  • Acknowledgments
  • Synopsis
  • 1 Introduction
  • 1.1 Classification of UAVs
  • 1.2 Nonmilitary applications of fixed-wing UAVs
  • 1.3 Control systems in fixed-wing UAVs
  • 1.4 State observer systems in fixed-wing UAVs
  • 2 Aerodynamic principles
  • 2.1 The importance of aerodynamic principles
  • 2.1.1 The atmosphere
  • 2.1.2 Atmospheric pressure
  • 2.1.3 Standard atmosphere
  • 2.1.4 Air temperature
  • 2.1.5 Air density
  • 2.1.6 Airplane wing
  • 2.1.7 Bernoulli theorem
  • 2.1.8 The center of pressure
  • 2.2 Forces acting in flight
  • 2.2.1 Flight opposition (resistance)
  • 2.2.2 Thrust
  • 2.2.3 Lift
  • 2.3 Axes of an airplane
  • 2.3.1 Aircraft control surfaces
  • 2.3.2 The structure of an airplane
  • 2.4 Concluding remarks
  • 3 Equations of motion of a fixed-wing UAV
  • 3.1 Control surfaces of a fixed-wing MAV
  • 3.2 Frame coordinates in fixed-wing UAVs
  • 3.3 Governing physics of a fixed-wing UAV
  • 3.4 Motion of a rigid body
  • 3.5 Kinematic model
  • 3.6 Uncoupled model of the fixed-wing UAV
  • 3.6.1 Longitudinal dynamics
  • 3.6.2 Directional and lateral dynamics
  • Directional dynamics (yaw angle)
  • Lateral dynamics (roll angle)
  • 3.6.3 Change of variables
  • 3.7 Concluding remarks
  • 4 Linear controllers
  • 4.1 PD and PID controllers
  • 4.2 LQR controller
  • 4.3 LQR controller with the discrete-time Kalman filter
  • 4.4 Concluding remarks
  • 5 Nonlinear controllers
  • 5.1 Nested saturation controller
  • 5.2 Backstepping controller
  • 5.3 Sliding mode controller
  • 5.4 Nested saturation with sliding mode
  • 5.5 Nested saturation with 2-SM
  • 5.6 Nested saturation with HOSM
  • 5.7 Backstepping with SM
  • 5.8 Backstepping with 2-SM
  • 5.9 Backstepping with HOSM
  • 5.10 MIT rule based on the gradient method with sliding mode theory
  • 5.11 Concluding remarks
  • 6 State observers
  • 6.1 Applications and concepts of state observers in control theory
  • 6.2 Complementary filters
  • 6.3 Sliding mode observers
  • 6.3.1 Sliding surface
  • 6.3.2 Shear effect and sliding patch
  • 6.3.3 System damping
  • 6.4 Nonlinear extended state observer
  • 6.5 Backstepping observer
  • 6.6 Simulation results of the control laws with observers
  • 6.6.1 PD control law with observers
  • 6.6.2 Backstepping control law with observers
  • 6.6.3 Roll motion simulations with PD control law with observers
  • 6.6.4 Yaw motion simulations with PD control law with observers
  • 6.6.5 Altitude motion simulations with PD control law with observers
  • 6.6.6 Roll motion simulations with backstepping control law with observers
  • 6.6.7 Yaw motion simulations with backstepping control law with observers
  • 6.6.8 Altitude movement simulations with backstepping control law with observers
  • 6.7 Concluding remarks
  • 7 Testbed and experimental results
  • 7.1 Experimental testbed

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