System and method for robust nonlinear regulation control of unmanned aerial vehicles synthetic jet actuators
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
B64C-015/00
B64C-015/02
B64C-015/14
B64C-039/00
G05D-001/00
G05D-001/08
B64C-039/02
G05D-001/10
출원번호
US-0963827
(2015-12-09)
등록번호
US-9625913
(2017-04-18)
발명자
/ 주소
Golubev, Vladimir V.
MacKunis, William
출원인 / 주소
Embry-Riddle Aeronautical University, Inc.
대리인 / 주소
Womble Carlyle Sandridge & Rice, LLP
인용정보
피인용 횟수 :
0인용 특허 :
13
초록▼
An unmanned aerial vehicle (UAV) is provided with a plurality of synthetic jet actuators and a nonlinear robust controller. The controller compensates for uncertainty in a mathematic model that describes the function of the synthetic jet actuators. Compensation is provided by the use of constant fee
An unmanned aerial vehicle (UAV) is provided with a plurality of synthetic jet actuators and a nonlinear robust controller. The controller compensates for uncertainty in a mathematic model that describes the function of the synthetic jet actuators. Compensation is provided by the use of constant feedforward best guess estimates that eliminate the need for more highly computationally burdensome approaches such as the use of time-varying adaptive parameter estimation algorithms.
대표청구항▼
1. An unmanned aerial vehicle (UAV), comprising: an airframe;a plurality of synthetic jet actuators (SJA) affixed to the airframe, each SJA configured to selectively produce a stream of air in response to a control command input thereto, each SJA being represented by a mathematical model having at l
1. An unmanned aerial vehicle (UAV), comprising: an airframe;a plurality of synthetic jet actuators (SJA) affixed to the airframe, each SJA configured to selectively produce a stream of air in response to a control command input thereto, each SJA being represented by a mathematical model having at least two uncertain parameters;a plurality of sensors configured to determine an operating condition of the UAV; anda control system configured to provide the control command to each of the plurality of synthetic jet actuators based on the operating condition of the UAV and a control law, the control law including a constant estimate for each of the uncertain parameters in the mathematical model of each corresponding SJA;wherein the control system controls at least one or both of the trajectory of the UAV and the vibration of the UAV by activating at least one of the plurality of SJA with the control command. 2. The unmanned aerial vehicle according to claim 1, wherein the plurality of SJA are selectively controlled by the control system to track a predetermined flight path, and wherein the control law comprises: v(t)=θ^1θ^2-ud(t) where {circumflex over (θ)}1 and {circumflex over (θ)}2 are constant estimates of uncertain parameters, and ud(t) denotes an auxiliary control term that incorporates the operating condition of the UAV. 3. The unmanned aerial vehicle according to claim 2, wherein the plurality of sensors measure the roll rate, pitch rate and yaw rate of the airframe as the operating condition. 4. The unmanned aerial vehicle according to claim 2, wherein: ud(t)={circumflex over (Ω)}#(μ0(t)−μ1(t)) where {circumflex over (Ω)}# denotes the pseudoinverse of {circumflex over (Ω)}, and {circumflex over (Ω)} is a constant estimate of an uncertain matrix, and where μ0(t) and μ1(t) are functions of roll, pitch, and yaw rate tracking errors. 5. The unmanned aerial vehicle according to claim 4, wherein: μ0=−(ks+Im×x)e(t)−(ks+Im×n(0)−∫0ƒα(ks+In×n)e(τ)dτμ1=∫0tβsgn(e(τ))dτ where: e(t) is a trajectory tracking error expressed in degrees per second,{circumflex over (Ω)} is a constant estimate of the parametric uncertainty, andks, α, β are positive, constant, user-defined amplifier settings. 6. The unmanned aerial vehicle according to claim 1, wherein the plurality of SJA are selectively controlled by the control system to dampen limit cycle oscillations, wherein the plurality of sensors measure at least one of pitching rate and plunging rate as the operating condition, and wherein the control law comprises: {dot over (u)}={circumflex over (B)}−1(−(ks+I2×2)r−βsgn(e2(t)) where ks,βε2×2 denote constant, positive definite, diagonal control gain matrices, I2×2 denotes a 2×2 identity matrix, r and e2 denote auxiliary regulation error measurements, and {circumflex over (B)}ε2×2 denotes a constant estimate of the uncertain input gain matrix B. 7. The control system according to claim 1, wherein the control law is configured to generate the control command for use in flight path tracking, the control law comprises: v(t)=θ^1θ^2-ud(t) where {circumflex over (θ)}1 and {circumflex over (θ)}2, are constant estimates and ud (t)={circumflex over (Ω)}#(μ0(t)−μ1 (t)) where {circumflex over (Ω)}# denotes the pseudoinverse of {circumflex over (Ω)}, and {circumflex over (Ω)} is a constant estimate of an uncertain matrix, and where μ0(t) and μ1(t) are functions of roll, pitch, and yaw rate tracking errors. 8. A method of controlling a micro air vehicle, comprising: measuring at least one of roll rate, pitch rate, yaw rate, pitching rate, and plunging rate;comparing the measured value with a desired reference value to determine an error;determining a control command voltage based on a control law, the control law comprising: v(t)=θ^θ^2-ud(t) where {circumflex over (θ)}1 and {circumflex over (θ)}2 are constant estimates and ud(t) is based on the error; applying the control command voltage to a synthetic jet actuator of a plurality of synthetic jet actuators; andemitting a flow of air from the synthetic jet actuator to adjust the trajectory of the micro air vehicle. 9. The method of controlling a micro air vehicle according to claim 8, wherein the method is free from time-varying adaptive parameter estimation algorithms.
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이 특허에 인용된 특허 (13)
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