Dynamics and Control of Fixed-wing UAV

F.L. Lewis, NAI Moncrief-O’Donnell Chair, UTA Research Institute (UTARI) The University of Texas at Arlington, USA and Hai-Long Pei

Director, Key Laboratory of Autonomous Systems and Network Control, MoE South China University of Technology, Guangzhou F.L. Lewis, NAI Moncrief-O’Donnell Chair, UTA Research Institute (UTARI) The University of Texas at Arlington, USA and Qian Ren Consulting Professor, State Key Laboratory of Synthetical Automation for Process Industries Northeastern University, Shenyang, China Dynamics and Control of Fixed-wing UAV Supported by : Supported by : NSF China NNSF AFOSR Europe China Project 111 ONR – Marc Steinberg US TARDEC

Talk available online at http://www.UTA.edu/UTARI/acs B.L. Stevens, F.L. Lewis, and E.N. Johnson, Control and Simulation: Dynamics, Control, and Autonomous Systems, John Wiley and Sons, New York, Third Edition, 2015. The Aircraft States p. 76 x    y  Position z    U V  Linear velocity   W X        Angular position –  attitudes   P   Q Angular velocity R    The Aircraft States x y  Position z  U V Linear velocity  W X    Roll  Angular position –  Pitch attitudes  yaw P  Q Angular velocity R Hai‐Long Pei, SCUT dynamics of fixed wing UAV

• The earth‐fixed reference frame • The body‐fixed reference frame Hai‐Long Pei, SCUT Flight dynamics of fixed wing UAV Hai‐Long Pei, SCUT Flight dynamics of fixed wing UAV

• The standard control surfaces: – (rolling) – (pitching) – (yawing) Hai‐Long Pei, SCUT Flight dynamics of fixed wing UAV Hai‐Long Pei, SCUT Flight dynamics of fixed wing UAV Hai‐Long Pei, SCUT Flight dynamics of fixed wing UAV

• The Plant p. 111 p. 118 Hai‐Long Pei, SCUT Flight dynamics of fixed wing UAV p. 127 Longitudinal Dynamics Lateral‐Directional Dynamics

Longitudinal Dynamics Angle of attack Pitch rate Total velocity Ex  Ax Bu pitch p. 206 xAxBu 

angle of attack  and pitch rate q

total velocity vT and pitch  sj   

j

 p. 259

p. 261 p. 128 Lateral‐Directional Dynamics

Sideslip Roll Roll rate Yaw rate Ex  Ax Bu p. 207 xAxBu 

roll rate p and yaw rate r roll rate p

roll angle  sj    j

 Hai‐Long Pei, SCUT Control of fixed wing UAV

• Cascade control structure

autopilots CAS SAS p. 257 Aircraft Control Systems

Stability Augmentation Systems ‐ SAS Control Augmentation Systems ‐ CAS Autopilots 4.4 STABILITY AUGMENTATION SYSTEMS p. 287 Damps out the dutch roll mode

Use lateral dynamics p. 304

Use short period approximation dynamics p. 311

Use longitudinal dynamics Use lateral‐directional dynamics p. 330 Steady‐state turn NAVIGATIONAL AUTOPILOTS p. 343

Holds constant compass heading Radar beacon Homes in on radar beacon

a/c p. 335

Off glide‐path Distance d Glide path Glide path angle 

vT  Hai‐Long Pei, SCUT Control of fixed wing UAV

• Way point control Aircraft Simulation‐ nonlinear F‐16 aircraft