Adaptive internal model control research in autonomous landing phase for a fixed-wing UAV

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• 作者：Jiu-zhou Gao ; Hong-guang Jia
• 关键词：Autonomous landing ; AIMC ; Estimation of process model ; Filter parameter adjustment ; Monte Carlo simulation
• 刊名：CEAS Aeronautical Journal
• 出版年：2017
• 出版时间：March 2017
• 年：2017
• 卷：8
• 期：1
• 页码：45-51
• 全文大小：991KB
• 刊物主题：Aerospace Technology and Astronautics;
• 出版者：Springer Vienna
• ISSN：1869-5590
• 卷排序：8

文摘

Autonomous landing is a very complex phase of flight for unmanned aerial vehicle (UAV). Adaptive internal model control (AIMC) is proposed and applied on autonomous landing control system in this paper. Controllers are designed based on the decoupled and linearized models of a sample UAV. Estimation of process model is carried out to enhance system robustness, and filter parameter adjustment is proposed to achieve a good dynamic performance. Control effects are compared and analyzed between IMC and AIMC in different wind conditions which demonstrate that AIMC has better performances than IMC. At last, Monte Carlo simulations prove the system stability.