Date Available
9-23-2014
Year of Publication
2014
Document Type
Master's Thesis
Degree Name
Master of Science in Mechanical Engineering (MSME)
College
Engineering
Department/School/Program
Mechanical Engineering
Advisor
Dr. Sean Bailey
Co-Director of Graduate Studies
Dr. Jesse B. Hoagg
Abstract
Instrumented umanned aerial vehicles represent a new way of measuring turbulence in the atmospheric boundary layer. However, autonomous measurements require control methods with disturbance-rejection and altitude command-following capabilities. Filtered dynamic inversion is a control method with desirable disturbance-rejection and command-following properties, and this controller requires limited model information. We implement filtered dynamic inversion as the pitch controller in an altitude-hold autopilot. We design and numerically simulate the continuous-time and discrete-time filtered-dynamic-inversion controllers with anti-windup on a nonlinear aircraft model. Finally, we present results from a flight experiment comparing the filtered-dynamic-inversion controller to a classical proportional-integral controller. The experimental results show that the filtered-dynamic-inversion controller performs better than a proportional-integral controller at certain values of the parameter.
Recommended Citation
Mullen, Jon, "FILTERED-DYNAMIC-INVERSION CONTROL FOR FIXED-WING UNMANNED AERIAL SYSTEMS" (2014). Theses and Dissertations--Mechanical Engineering. 45.
https://uknowledge.uky.edu/me_etds/45
Included in
Acoustics, Dynamics, and Controls Commons, Aeronautical Vehicles Commons, Controls and Control Theory Commons, Navigation, Guidance, Control and Dynamics Commons
