In this paper the methodology presented earlier, based on the open loop control approach for real time optimal trajectory synthesis for an unmanned aerial vehicle in UAM applications, is extended to trajectory tracking and feedback control. The reference trajectory was synthesized earlier using the kinematic relations the vehicle must satisfy and a disturbance free ideal point mass model in flight. The feedback control laws, synthesized in this paper, seek to track the reference trajectory, in real time. Although the tracking control laws are based on either linear optimal control or Lyapunov's second method, they are used to control the nonlinear dynamics of the vehicle, with disturbances, in real time. Since it is assumed that the dynamics associated with the horizontal and vertical translation are relative fast, the controls associated with pitch attitude can be independently designed, without altering the altitude (but definitely altering the speed) to maintain the pitch attitude and pitch stability. The additional feedback required for controlling the slower pitch attitude dynamics is obtained and the closed loop pitch attitude stability is also demonstrated with an example. Typical examples demonstrate the application of the method, the aircraft trajectory response and stability.
Optimal Guidance Laws for Aircraft and Drones along Specified Flight Paths in the Presence of Wind
2024-09-29
504144 byte
Conference paper
Electronic Resource
English
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