Document Type : Original Article

Authors

Amirkabir University of Technology, Department of Aerospace Engineering

Abstract

The purpose of this paper is to present a Multi-Input Multi-Output (MIMO) linear controller based on the eigenstructure assignment method for a fixed-wing Unmanned Aerial Vehicle (UAV) in longitudinal and lateral-directional channels. To this end, a six degree-of-freedom model of the aerial vehicle is considered, where dynamic modes of the system in each channel are analyzed, and the effect of each dynamic mode on state and output variables of the system is investigated. Then, the eigenvalue and eigenvector parameters of the designed controller are appropriately assigned for the system dynamic modes in each channel. In addition, the system requirements of each dynamic mode are satisfied with the proposed controller, and the adverse interaction between the system state variables is minimized. The capability and effectiveness of the designed controller in a desired maneuver are demonstrated with a nonlinear model simulation of a fixed-wing UAV. In this regard, the results in longitudinal and lateral-directional channels are presented.

Keywords

Main Subjects

[1] L. Faleiro and R. Pratt, "Eigenstructure assignment applied to the design of an autopilot function for a civil aircraft," Flight control systems (Progress in Astronautics and Aeronautics., vol. 184, pp. 301-347, 2000.
[2] A. Andry, E. Shapiro, and J. Chung, "Eigenstructure assignment for linear systems," IEEE transactions on aerospace and electronic systems, no. 5, pp. 711-729, 1983.
[3] D. Gutiérrez and R. Salazar-Varas, "Using eigenstructure decompositions of time-varying autoregressions in common spatial patterns-based EEG signal classification," Biomedical signal processing and control, vol. 7, no. 6, pp. 622-631, 2012.
[4] M. Serra, F. Resta, and F. Ripamonti, "An active control logic based on modal approach for vibration reduction through the eigenstructure assignement," in 2013 IEEE International Conference on Mechatronics (ICM), 2013: IEEE, pp. 58-62.
[5] Y. Yuan and H. Liu, "An iterative updating method for damped structural systems using symmetric eigenstructure assignment," Journal of Computational and Applied Mathematics, vol. 256, pp. 268-277, 2014.
[6] C. Kazantzidou, T. Perez, and F. Valentinis, "Eigenstructure assignment for the position regulation of a fully-actuated marine craft," IFAC-PapersOnLine, vol. 50, no. 1, pp. 12398- 12403, 2017.
[7] K. M. Sobel and E. Y. Shapiro, "Application of eigenstructure assignment to flight control design: Some extensions," Journal of Guidance, Control, and Dynamics, vol. 10, no. 1, pp. 73-81, 1987.
[8] K. M. Sobel and F. J. Lallman, "Eigenstructure assignment for the control of highly augmented aircraft," Journal of Guidance, Control, and Dynamics, vol. 12, no. 3, pp. 318-324, 1989.
[9] O. Albostan and M. Gökaşan, "Mode decoupling robust eigenstructure assignment applied to the lateral-directional dynamics of the F-16 aircraft," Aerospace Science and Technology, vol. 77, pp. 677-687, 2018.
[10] G. ALBOSTAN and M. Gokasan, "High angle of attack manoeuvring control of f-16 aircraft based on nonlinear dynamic inversion and eigenstructure assignment," in 7th European Conference for Aeronautics and Space Sciences (EUCASS), 2017.
[11] M. R. Mortazavi and A. Naghash, "Pitch and flight path controller design for F-16 aircraft using combination of LQR and EA techniques," Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, vol. 232, no. 10, pp. 1831-1843, 2018.
[12] A. R. Mehrabian and J. Roshanian, "Skid-to-turn missile autopilot design using scheduled eigenstructure assignment technique," Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, vol. 220, no. 3, pp. 225-239, 2006.
[13] A. Ashrafi, M. Mortazavi, A. gholami, “Linear control for duct fan aerial vehicle by Eigenstructure method,” Twenty-fifth Annual Conference of Mechanical Engineering, Tehran, Tarbiat Modares University, Association of Iranian Mechanical Engineers, 2017.
[14] H. Noura and F. Bateman, "Control of an Unmanned Aerial Vehicle," in 7th International Symposium on Mechatronics and its Applications, 2010: IEEE, pp. 1-6.
[15] J. Roskam, Airplane flight dynamics and automatic flight controls. DARcorporation, 1995.
[16] A. Askari, M. Mortazavi, H. Talebi, and A. Motamedi, "A new approach in UAV path planning using Bezier–Dubins continuous curvature path," Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, vol. 230, no. 6, pp. 1103-1113, 2016.
[17] A. Motamedi, Mortazavi, j. Roshani yan, Babaii, “Continuous Curvature Trajectory Planning Based on Dubins Path and Bézier Curve for UAVs,” Scientific Journal of Aeronautical Engineering, vol. 16, no.1, pp. 49-64, 2014.
[18] H. Nobahari and A. Sharifi, "Multiple model extended continuous ant colony filter applied to real-time wind estimation in a fixed-wing UAV," Engineering Applications of Artificial Intelligence, vol. 92, p. 103629, 2020.
[19] R. W. Beard and T. W. McLain, Small unmanned aircraft. Princeton university press, 2012.
[20] U.S. Military Specification, MIL-F-8785C, 1980, http://www.mechanics. iei.liu.se/edu_ug/tmme50/8785c.pdf.