Stabilization and Control of a UAV Flight Attitude Angles using the Backstepping Method
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.
[1] H. Chao, Y. Cao, Y. Chen, "Autopilots for small fixed-wing unmanned
air vehicle: A survey", IEEE International Conference on Mechatronics
and Automation, 2007, pp. 3144-3149.
[2] Y.C. Paw, Synthesis and Validation of Flight Control for UAV.
Dissertation submitted to the Faculty of the Graduate School of the
University of Minnesota, December, 2009.
[3] N.M. Jodeh, P.A. Blue, A.A. Waldron, "Development of small
unmanned aerial vehicle research platform: Modeling and simulating
with flight test validation", AIAA Modeling and Simulation Technologies
Conference and Exhibit, no. 2006-6261, 2006.
[4] N.K. Peyada, A.K. Ghosh, "Aircraft parameter estimation using a new
filtering technique based upon a neural network and Gauss-Newton
method". Aeronautical Journal, April 2009, 113, (1142), pp. 243-252.
[5] Y.C. Paw, "Attitude control of Mini-UAV using backstepping control".
Nonlinear Systems Project, ME8282, October 2007.
[6] D. Blaaw, Flight Control System for a Variable Stability Blended-wing-
Body Unmanned Aerial Vehicle, Master of Science Thesis, University of
Stellenbosch, South Africa, March 2009.
[7] T.L. Grigorie, Strap-down inertial navigation systems. Optimization
studies. Sitech Publisher, Craiova, 2007, 326 pp.
[8] T.L. Grigorie, L. Dinca, J. Corcau, "Aircrafts- Altitude Measurement
Using Pressure Information: Barometric Altitude and Density Altitude",
WSEAS Transactions on Circuits and Systems, 7, 2010, pp. 503-512.
[9] T.L. Grigorie, D.G. Sandu, "The influences of the gyro sensors- errors
on the attitude calculus". IEEE Signal Processing Society - 49th
International Symposium ELMAR-2007 focused on Mobile Multimedia,
Zadar, Croatia, 12-14 September, 2007, pp. 85-92.
[10] D. Jung, P. Tsiotras, "Modeling and hardware-in-the-loop simulation for
a small unmanned aerial vehicle", AIAA Guidance, Navigation and
Control Conference and Exhibit, no. 2007-2768, 2007.
[11] I. Kaminer, O. Yakimenko, V. Dobrokhodov, K. Jones, "Rapid flight
test proto-typing system and the fleet of UAVs and MAVs at the naval
postgraduate school", Proceedings of the 3rd AIAA Unmanned
Unlimited Technical Conference, 2004.
[12] J. Renfrow, S. Liebler, J. Denham, "F-14 flight control law design,
verification and validation using computer aided engineering tools",
Proceedings of the Third IEEE Conference on Control Applications, vol.
3, pp. 359-364, 1994.
[13] M. Tischler, Advances in aircraft flight control. Taylor and Francis Ltd,
1996.
[14] L. Dinca, J. Corcau, "EDS and EFIS systems on board of modern
transport aircraft", 10th International Conference on Applied and
Theoretical Electricity, Craiova, Romania, 2010.
[15] M.V. Cook, Flight Dynamics Principles. Elsevier Butterworth-
Heinemann, 1997.
[16] J.H. Blakelock, Automatic Control of Aircraft and Missiles. Wiley-
Interscience, 1991.
[17] B. Etkin, L.D. Reid, Dynamics of Flight Stability and Control, 3rd ed.
John Wiley & Sons, 1996.
[18] I.K. Peddle, Acceleration Based Maneuver Flight Control System for
Unmanned Aerial Vehicles, University of Stellenbosch, 2007.
[19] S.C. Kriel, A Comparison of Control Systems for the Flight Transition of
VTOL Unmanned Aerial Vehicles, University of Stellenbosch, 2008.
[20] M. Chiaramonti, G. Mengali, "Control laws for a formation of
autonomous flight vehicles". Aeronautical Journal, April 2009, 113,
(1147), pp. 609-616.
[1] H. Chao, Y. Cao, Y. Chen, "Autopilots for small fixed-wing unmanned
air vehicle: A survey", IEEE International Conference on Mechatronics
and Automation, 2007, pp. 3144-3149.
[2] Y.C. Paw, Synthesis and Validation of Flight Control for UAV.
Dissertation submitted to the Faculty of the Graduate School of the
University of Minnesota, December, 2009.
[3] N.M. Jodeh, P.A. Blue, A.A. Waldron, "Development of small
unmanned aerial vehicle research platform: Modeling and simulating
with flight test validation", AIAA Modeling and Simulation Technologies
Conference and Exhibit, no. 2006-6261, 2006.
[4] N.K. Peyada, A.K. Ghosh, "Aircraft parameter estimation using a new
filtering technique based upon a neural network and Gauss-Newton
method". Aeronautical Journal, April 2009, 113, (1142), pp. 243-252.
[5] Y.C. Paw, "Attitude control of Mini-UAV using backstepping control".
Nonlinear Systems Project, ME8282, October 2007.
[6] D. Blaaw, Flight Control System for a Variable Stability Blended-wing-
Body Unmanned Aerial Vehicle, Master of Science Thesis, University of
Stellenbosch, South Africa, March 2009.
[7] T.L. Grigorie, Strap-down inertial navigation systems. Optimization
studies. Sitech Publisher, Craiova, 2007, 326 pp.
[8] T.L. Grigorie, L. Dinca, J. Corcau, "Aircrafts- Altitude Measurement
Using Pressure Information: Barometric Altitude and Density Altitude",
WSEAS Transactions on Circuits and Systems, 7, 2010, pp. 503-512.
[9] T.L. Grigorie, D.G. Sandu, "The influences of the gyro sensors- errors
on the attitude calculus". IEEE Signal Processing Society - 49th
International Symposium ELMAR-2007 focused on Mobile Multimedia,
Zadar, Croatia, 12-14 September, 2007, pp. 85-92.
[10] D. Jung, P. Tsiotras, "Modeling and hardware-in-the-loop simulation for
a small unmanned aerial vehicle", AIAA Guidance, Navigation and
Control Conference and Exhibit, no. 2007-2768, 2007.
[11] I. Kaminer, O. Yakimenko, V. Dobrokhodov, K. Jones, "Rapid flight
test proto-typing system and the fleet of UAVs and MAVs at the naval
postgraduate school", Proceedings of the 3rd AIAA Unmanned
Unlimited Technical Conference, 2004.
[12] J. Renfrow, S. Liebler, J. Denham, "F-14 flight control law design,
verification and validation using computer aided engineering tools",
Proceedings of the Third IEEE Conference on Control Applications, vol.
3, pp. 359-364, 1994.
[13] M. Tischler, Advances in aircraft flight control. Taylor and Francis Ltd,
1996.
[14] L. Dinca, J. Corcau, "EDS and EFIS systems on board of modern
transport aircraft", 10th International Conference on Applied and
Theoretical Electricity, Craiova, Romania, 2010.
[15] M.V. Cook, Flight Dynamics Principles. Elsevier Butterworth-
Heinemann, 1997.
[16] J.H. Blakelock, Automatic Control of Aircraft and Missiles. Wiley-
Interscience, 1991.
[17] B. Etkin, L.D. Reid, Dynamics of Flight Stability and Control, 3rd ed.
John Wiley & Sons, 1996.
[18] I.K. Peddle, Acceleration Based Maneuver Flight Control System for
Unmanned Aerial Vehicles, University of Stellenbosch, 2007.
[19] S.C. Kriel, A Comparison of Control Systems for the Flight Transition of
VTOL Unmanned Aerial Vehicles, University of Stellenbosch, 2008.
[20] M. Chiaramonti, G. Mengali, "Control laws for a formation of
autonomous flight vehicles". Aeronautical Journal, April 2009, 113,
(1147), pp. 609-616.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:55292", author = "Mihai Lungu", title = "Stabilization and Control of a UAV Flight Attitude Angles using the Backstepping Method", 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.", keywords = "Attitude angles, Backstepping, Controller, UAV.", volume = "6", number = "1", pages = "127-8", }
