Precise Decoupling Tracking of Airspeed and Altitude for UAV Based on Causal Solution of Stable Inversion |
| |
Authors: | Zhang Zhang |
| |
Institution: | aSchool of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China |
| |
Abstract: | Use stable inversion to accomplish precise decoupling tracking of airspeed and altitude for conventional takeoff and landing of unmanned aerial vehicles (UAVs) is in essence a non-minimum phase output tracking problem. The main contribution of this article is that a new method to calculate the causal solution of stable inversion is proposed by introducing a well defined perturbed signal to the system's unstable internal dynamics. It is helpful to overcome the pitfalls resulting from non-causality in existing methods. Different from the mathematically accurate offline non-causal solution, the causal solution is an approximation with asymptotically convergent errors. The important merits are: It obviates the needs for the output trajectory to be pre-known time parameterized functions, hence broadening the application of stable inversion; The low computational workload is much more suitable for and beneficial to real-time applications than any existing method based on stable inversion. The output tracking problem is then converted into a state tracking problem based on the causal solution of stable inversion. Precise decoupling tracking of airspeed and altitude is realized by using a feedback controller. Simulations are carried out to verify the viability and low computational workload of the method. |
| |
Keywords: | precise decoupling tracking causal solution stable inversion non-minimum phase unmanned aerial vehicles |
本文献已被 万方数据 ScienceDirect 等数据库收录! |