An incremental model-based method for the implementation of an UAV linear control system

摘要

Developing embedded control systems for UAVs is a crucial problem that has received a considerable attention in the literature, mainly due to the high stakes related to these vehicles. Given the progress of simulation tools, model-based approaches have became a natural trend to achieve this task. However, one common drawback of such approaches relies in the complex transition from simulation to real set-up. The method proposed in this paper, and applied to a fixed-wing UAV, overcomes this limit by implementing incrementally a linear control system. To this end, we have: (i) modeled the UAV through a set of discrete linear SISO models; (ii) used an identification method based-least square and standards sensors to determine the parameters and the structure of these models; and (iii) used a simple control architecture-based on successive loop closure and requiring merely low-cost sensors. To establish the interest of the proposed method, simulations have been conducted on the AEROSONDE model. The resulting control system is shown to execute accurately the desired commands.