Run-to-run disturbance rejection for feedforward path following of an adaptively controlled unmanned helicopter

Publikationstyp
Conference Paper
Date Issued
2015
Sprache
English
Author(s)
Dauer, Johann C.
Deutsches Zentrum für Luft- und Raumfahrt DLR Standort Braunschweig
Faulwasser, Timm  
Lorenz, Sven
TORE-URI
https://hdl.handle.net/11420/46176
Start Page
1779
End Page
1785
Article Number
7320867
Citation
2015 IEEE Conference on Control Applications (CCA) : 21 - 23 Sept. 2015, Sydney, Australia : part of IEEE Multi-Conference on Systems and Control (MSC 2015). - Piscataway, NJ, 2015. - Seite 1779-1785
Contribution to Conference
IEEE Conference on Control and Applications, CCA 2015  
Publisher DOI
10.1109/CCA.2015.7320867
Scopus ID
2-s2.0-84964344027
Publisher
IEEE
ISBN
978-1-4799-7787-1
978-1-4799-7797-0
We present a scheme for run-to-run disturbance rejection in optimization-based feedforward path following of a remotely piloted aircraft system (RPAS). The proposed scheme is based on the inter-run estimation of unknown disturbances, such as wind induced forces and model uncertainties. These disturbance estimates are introduced in an optimal control problem used to compute feedforward controls. In order to achieve good run-to-run disturbance rejection, the structure of the underlying stabilizing flight control of the RPAS is taken into account. In this work, we consider flight control based on adaptive reference following and the special case of the unmanned helicopter ARTIS. We present simulation results and flight test data. These results underpin that the proposed approach significantly decreases flight path deviations in a run-to-run fashion.
Subjects
adaptive control
feedforward path following
model reference control
remotely piloted aircraft system
run-to-run disturbance rejection
unmanned aircraft system
unmanned helicopter
DDC Class
004: Computer Sciences
621: Applied Physics