Finite time tracking control for a small UAV using input-output linearization

摘要

The aim of the SkyScanner project is to collect data in and around cumulus clouds to improve the modeling of meteorological phenomena. This work presents a finite time tracking control law for a small Unmanned Aerial Vehicle (UAV) in use within the project. The longitudinal dynamics of the UAV are considered and additive disturbances are added on the control inputs. The intention is to track the UAV pitch angle and the velocity with respect to the ground. An unusual representation of the model has been chosen considering the components of the wind velocity as additive inputs of the model. The control law is designed in two steps: firstly the system is input/output linearized with respect to the variables of interest, then a finite time control law is designed to track a reference signal and reject the injected disturbances. With input-output (I/O) linearization process a zero-dynamics problem arises and is studied. The results are formally proven and supported by simulations.