Full Text Available
Note: Clicking the button above will open the full text document at the original institutional repository in a new window.
Acceleration based manoeuvre flight control system for unmanned aerial vehicles
Thesis (PhD (Electrical and Electronic Engineering))--Stellenbosch University, 2008.
Saved in:
| Main Author: | |
|---|---|
| Other Authors: | |
| Format: | Thesis |
| Language: | English |
| Published: |
Stellenbosch : Stellenbosch University
2008
|
| Subjects: | |
| Tags: |
No Tags, Be the first to tag this record!
|
| _version_ | 1867614134854483968 |
|---|---|
| access_status_str | Open Access |
| author | Peddle, Iain K. |
| author2 | Jones, T. |
| author_browse | Jones, T. Peddle, Iain K. |
| author_facet | Jones, T. Peddle, Iain K. |
| author_sort | Peddle, Iain K. |
| collection | Thesis |
| dc_rights_str_mv | Stellenbosch University |
| description | Thesis (PhD (Electrical and Electronic Engineering))--Stellenbosch University, 2008. |
| format | Thesis |
| id | oai:scholar.sun.ac.za:10019.1/1172 |
| institution | Stellenbosch University (South Africa) |
| language | English |
| last_indexed | 2026-06-10T12:47:13.037Z |
| license_str | Other — see source repository |
| provenance_str_mv | Harvested via OAI-PMH from SUNScholar — Stellenbosch University Repository |
| publishDate | 2008 |
| publishDateRange | 2008 |
| publishDateSort | 2008 |
| publisher | Stellenbosch : Stellenbosch University |
| publisherStr | Stellenbosch : Stellenbosch University |
| record_format | dspace |
| source_str | SUNScholar — Stellenbosch University Repository |
| spelling | oai:scholar.sun.ac.za:10019.1/1172 Acceleration based manoeuvre flight control system for unmanned aerial vehicles Peddle, Iain K. Jones, T. Stellenbosch University. Faculty of Engineering. Dept. of Electrical and Electronic Engineering. Unmanned aerial vehicles Acceleration control Manoeuvre tracking Theses -- Electrical and electronic engineering Dissertations -- Electrical and electronic engineering Drone aircraft -- Control systems Flight control Electrical and Electronic Engineering Thesis (PhD (Electrical and Electronic Engineering))--Stellenbosch University, 2008. A strategy for the design of an effective, practically feasible, robust, computationally efficient autopilot for three dimensional manoeuvre flight control of Unmanned Aerial Vehicles is presented. The core feature of the strategy is the design of attitude independent inner loop acceleration controllers. With these controllers implemented, the aircraft is reduced to a point mass with a steerable acceleration vector when viewed from an outer loop guidance perspective. Trajectory generation is also simplified with reference trajectories only required to be kinematically feasible. Robustness is achieved through uncertainty encapsulation and disturbance rejection at an acceleration level. The detailed design and associated analysis of the inner loop acceleration controllers is carried out for the case where the airflow incidence angles are small. For this case it is shown that under mild practically feasible conditions the inner loop dynamics decouple and become linear, thereby allowing the derivation of closed form pole placement solutions. Dimensional and normalised non-dimensional time variants of the inner loop controllers are designed and their respective advantages highlighted. Pole placement constraints that arise due to the typically weak non-minimum phase nature of aircraft dynamics are developed. A generic, aircraft independent guidance control algorithm, well suited for use with the inner loop acceleration controllers, is also presented. The guidance algorithm regulates the aircraft about a kinematically feasible reference trajectory. A number of fundamental basis trajectories are presented which are easily linkable to form complex three dimensional manoeuvres. Results from simulations with a number of different aircraft and reference trajectories illustrate the versatility and functionality of the autopilot. Key words: Aircraft control, Autonomous vehicles, UAV flight control, Acceleration control, Aircraft guidance, Trajectory tracking, Manoeuvre flight control. Doctoral 2008-09-03T10:13:22Z 2010-06-01T08:14:11Z 2008-09-03T10:13:22Z 2010-06-01T08:14:11Z 2008-12 Thesis http://hdl.handle.net/10019.1/1172 en Stellenbosch University application/pdf Stellenbosch : Stellenbosch University |
| spellingShingle | Unmanned aerial vehicles Acceleration control Manoeuvre tracking Theses -- Electrical and electronic engineering Dissertations -- Electrical and electronic engineering Drone aircraft -- Control systems Flight control Electrical and Electronic Engineering Peddle, Iain K. Acceleration based manoeuvre flight control system for unmanned aerial vehicles |
| title | Acceleration based manoeuvre flight control system for unmanned aerial vehicles |
| title_full | Acceleration based manoeuvre flight control system for unmanned aerial vehicles |
| title_fullStr | Acceleration based manoeuvre flight control system for unmanned aerial vehicles |
| title_full_unstemmed | Acceleration based manoeuvre flight control system for unmanned aerial vehicles |
| title_short | Acceleration based manoeuvre flight control system for unmanned aerial vehicles |
| title_sort | acceleration based manoeuvre flight control system for unmanned aerial vehicles |
| topic | Unmanned aerial vehicles Acceleration control Manoeuvre tracking Theses -- Electrical and electronic engineering Dissertations -- Electrical and electronic engineering Drone aircraft -- Control systems Flight control Electrical and Electronic Engineering |
| url | http://hdl.handle.net/10019.1/1172 |
| work_keys_str_mv | AT peddleiaink accelerationbasedmanoeuvreflightcontrolsystemforunmannedaerialvehicles |