Abstract: The paper presents the design of a mini-UAV attitude
controller using the backstepping method. Starting from the nonlinear
dynamic equations of the mini-UAV, by using the backstepping
method, the author of this paper obtained the expressions of the
elevator, rudder and aileron deflections, which stabilize the UAV, at
each moment, to the desired values of the attitude angles. The attitude
controller controls the attitude angles, the angular rates, the angular
accelerations and other variables that describe the UAV longitudinal
and lateral motions. To design the nonlinear controller, by using the
backstepping technique, the nonlinear equations and the Lyapunov
analysis have been directly used. The designed controller has been
implemented in Matlab/Simulink environment and its effectiveness
has been tested with a campaign of numerical simulations using data
from the UAV flight tests. The obtained results are very good and
they are better than the ones found in previous works.
Abstract: The paper presents a new system for the automat
control of the aircrafts- flight in lateral plane using the cinematic
model and the dynamic inversion. Starting from the equations of the
aircrafts- lateral movement, the authors use two axes systems and
obtained a control law that cancels the lateral deviation of the flying
objects from the runway line. This system makes the aircrafts-
direction angle to follow the direction angle of the runway line.
Simulations in Matlab/Simulink have been done for different
aircraft-s initial points and direction angles. The inconvenience of
this system is the long duration of the “transient regime". That is why
this system can be used independently, but the results are not very
good; thus, it can be a part (subsystem) of other systems. The main
system that cancels the lateral deviation from the runway line is
based on dynamic inversion and uses, as subsystem, the control
system for the lateral movement using the cinematic model. Using
complex Matlab/Simulink models, the authors obtained the time
evolution of the direction angle and the time evolution of the aircraft
lateral deviation with respect to the runway line, for different values
of the initial direction angle and for different wind types. The system
has a very good behavior for all initial direction angles and wind
types.