Singular perturbation control for the longitudinal and lateral-directional flight dynamics of a UAV

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dc.creatorLuis Garcia-Baquero
dc.creatorSergio Esteban
dc.creatorGuilherme Vianna Raffo
dc.date.accessioned2025-04-10T14:19:54Z
dc.date.accessioned2025-09-09T00:54:37Z
dc.date.available2025-04-10T14:19:54Z
dc.date.issued2018
dc.identifier.doihttps://doi.org/10.1016/j.ifacol.2018.07.099
dc.identifier.urihttps://hdl.handle.net/1843/81445
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.relation.ispartofIFAC Workshop on Networked & Autonomous Air & Space Systems (NAASS 2018)
dc.rightsAcesso Restrito
dc.subjectAeronave não tripulada
dc.subjectSistemas não lineares
dc.subject.otherNonlinear control, Singular perturbations, Time scales, Longitudinal Lateral-directional, UAV
dc.titleSingular perturbation control for the longitudinal and lateral-directional flight dynamics of a UAV
dc.typeArtigo de evento
local.citation.epage129
local.citation.spage124
local.description.resumoThis paper presents a singular perturbation control strategy for regulating both the longitudinal and the lateral-directional flight dynamics of an Unmanned Aerial Vehicle (UAV). The proposed control strategy is based on a double four-time-scale (4TS) decomposition of the longitudinal and lateral-directional dynamics. The longitudinal dynamics include the altitude, velocity, pitch, and flight path angle dynamics, with the control signals being the elevator deflection and the throttle position, while the lateral-directional dynamics include the side-slip angle, bank angle, yaw rate and roll rate dynamics, with the control signals being the aileron and rudder deflection. The nonlinear control strategy drives the system to follow references in the aerodynamic velocity, the flight path angle and the load factor, which in return provides references in bank angle, side-slip angle and yaw rate. In addition, the control strategy allows to select the desired dynamics for all the singularly perturbed subsystems. Numerical results are included for a realistic nonlinear UAV model, including control saturation and presenting control robustness capabilities under unmodelled dynamics.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttps://www.sciencedirect.com/science/article/pii/S2405896318308425

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