Algebraic dominant pole placement methodology for unmanned aircraft systems with time delay

摘要

We address the problem of path-following control for unmanned aircraft systems when an imaging sensor is used to measure the vehicle's lateral, longitudinal, and heading dynamics. Despite its advantages, image processing is computationally intensive and introduces latencies, limiting the controller gains required to ensure stability. To overcome this issue, we design and successfully implement, in real time, a methodology for tuning the controller gains using spectral techniques for time-delay systems.