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Equivalent Linear Model Identification and Periodic Control of a Mono-Wing Aerial Vehicle

Sabeti, M. H ; Sharif University of Technology | 2023

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  1. Type of Document: Article
  2. DOI: 10.1007/s10846-023-01924-0
  3. Publisher: Institute for Ionics , 2023
  4. Abstract:
  5. This research is dedicated to investigating the dynamics identification and periodic control of a mono-wing aerial vehicle. The study employs well-established system identification strategies in both time and frequency domains to extract equivalent linear models. By exciting the system dynamics with a frequency sweep signal, non-parametric and parametric models are derived for each control channel, namely the flap and thrust. Furthermore, a comprehensive nonlinear simulation model is developed to facilitate trade study and design optimization. The identified models undergo careful validation using a two-square wave input signal, demonstrating their accuracy through a comparison with flight test data. Moreover, in terms of the control design, a noteworthy achievement is made by proposing a novel approach. The study showcases the effectiveness of a unique combination of multi-loop PID controllers specifically adapted to the time-periodic nature of the system. Remarkably, this approach enables satisfactory control behavior in a 3D environment utilizing only the flap input in the control loop while keeping the motor speed constant. Such a breakthrough holds great significance as it allows for the reliable application of a complex time-periodic aerial vehicle in demanding maneuvers, relying on just a single effective actuator. © 2023, The Author(s), under exclusive licence to Springer Nature B.V
  6. Keywords:
  7. Equivalent linear dynamics ; Mono-wing aerial vehicle ; Nonlinear simulation ; Periodic control ; System identification
  8. Source: Journal of Intelligent and Robotic Systems: Theory and Applications ; Volume 108, Issue 4 , 2023 ; 09210296 (ISSN)
  9. URL: https://link.springer.com/article/10.1007/s10846-023-01924-0