CIVILICA We Respect the Science
(ناشر تخصصی کنفرانسهای کشور / شماره مجوز انتشارات از وزارت فرهنگ و ارشاد اسلامی: ۸۹۷۱)

گواهی نمایه سازی مقاله Indirect altitude control of an unmanned aerial vehicle during the landing phase

عنوان مقاله: Indirect altitude control of an unmanned aerial vehicle during the landing phase
شناسه (COI) مقاله: MAARS01_132
منتشر شده در همایش یافته های نوین در هوافضا و علوم وابسته در سال ۱۳۹۴
مشخصات نویسندگان مقاله:

M.R Faraji - Intelligent Distributed and Autonomous Systems Laboratory, School of Mechanical Engineering, Iran University of Science and Technology
E Khanmirza - Intelligent Distributed and Autonomous Systems Laboratory, School of Mechanical Engineering, Iran University of Science and Technology
M. Shahraeeni - Acoustics Research Laboratory, School of Mechanical Engineering, Iran University of Science and Technology

خلاصه مقاله:
Based on the Lyapunov stability criterion, a novel backstepping controller is developed to control the altitude and flight path angle of an unmanned aerial vehicle (UAV) throughout the landing stage. Landing path is divided in two stages: firstly UAV follows a straight line (glide-slope) and then it tracks an exponential curve (flare) to touch the ground. This flight path is employed as a reference trajectory to be tracked. To simulate the UAV dynamics, linearized equations of the longitudinal motion of an aircraft are employed. Moreover, disturbance is introduced to the model according to the Dryden wind turbulence model. To ensure the robustness and efficiency of the proposed controller a set of simulations are performed using the commercial software Matlab/Simulink. Simulation results reveal that the proposed controller successfully tracks the reference trajectory and finally tracking errors converge to zero.

کلمات کلیدی:
automatic landing, backstepping control, wind turbulence

صفحه اختصاصی مقاله و دریافت فایل کامل: https://www.civilica.com/Paper-MAARS01-MAARS01_132.html