Aerospace and Electronic Systems Magazine September 2016 - 47
Fu, Zhang, and Yu
Table 1.
Energy-Loop Control
The energy-based controller to guarantee energy tracking is written as:
(40)
where Kds > 0 and Dr = 25.46V 2 + 337.21V 2a 2 + 80.20V 2a. The
objective function of energy tracking is introduced as:
(41)
where es = V - Vd. Using (2) and (40), ϒs = 0 is derived to ensure
that V → Vd. In accordance with (2), the desired energy function
of energy-loop is:
(42)
The time derivative of (42) is:
(43)
Thus,
Reference Pitch Angle Description
Level
Time (s)
Pitch Angle (deg)
Velocity
(m/s)
1
0 < t ≤110
0
80
2
110 < t ≤150
-5×(t-110)/40
80
3
150 < t ≤190
-5
80
4
190 < t ≤230
-5+10×(t-190)/40
80
5
230 < t ≤260
-5
80
6
260 < t ≤300
5-10×(t-260)/40
80
7
300 < t ≤340
0
80
8
340 < t ≤380
-6×(t-340)/40
80
9
380 < t ≤420
-6
80
10
420 < t ≤450
-6+3×(t-420)/30
80
11
450 < t ≤500
-3
80
holds.
Outer-Loop Control
Table 2.
With respect to the tracking error in z-position, the outer-loop controller to achieve the altitude stabilization is introduced as:
Reference Altitude Description
(44)
Level
Time (s)
Altitude (m)
Velocity
(m/s)
(45)
1
0 < t ≤110
1,000
80
2
110 < t ≤190
1000-500×(t-110)/80
80
3
190 < t ≤300
500+400×(t-190)/110
80
4
300 < t ≤380
900
80
5
380 < t ≤500
900-900×(t-380)/120
80
where K1, K2, K3, K4 Î R.
Remark 4. Energy-based control design formulates the UAV
control in the form of the energy equation following the principle
of conservation of energy. The control design is applied to track
the reference trajectory and keep energy balance without the need
of gain-scheduling.
Table 3.
SIMULATION AND RESULTS ANALYSIS
The Initial Parameters for Simulation
SIMULATION SCENARIOS
Parameter
The proposed approach is validated by numerical simulation conducted in the MATLAB/Simulink environment with a PC that is
configured with a 2 GHz Intel Core i7-4510U processor with 8
Gigabytes Random Access Memory. The landing phase is explicitly considered in the simulation study, where the reference signals
of the pitch angle and altitude are indicated in Table 1 and Table 2,
respectively. The UAV follows the initial conditions as shown in
Table 3. For aircraft presented as intruders in this study, it is required to follow the original trajectory with a constant airspeed
of 60 m/s. The initial parameters of BBO algorithm are given as:
SEPTEMBER 2016
Value
Initial x position
1,000 m
Initial z position
1,000 m
Initial velocity along x-axis
80 m/s
Initial velocity along z-axis
0 m/s
Initial pitch angle
Initial pitch rate
Airspeed
IEEE A&E SYSTEMS MAGAZINE
1.627 deg
0
80 m/s
47
Table of Contents for the Digital Edition of Aerospace and Electronic Systems Magazine September 2016
No label
Aerospace and Electronic Systems Magazine September 2016 - No label
Aerospace and Electronic Systems Magazine September 2016 - Cover2
Aerospace and Electronic Systems Magazine September 2016 - 1
Aerospace and Electronic Systems Magazine September 2016 - 2
Aerospace and Electronic Systems Magazine September 2016 - 3
Aerospace and Electronic Systems Magazine September 2016 - 4
Aerospace and Electronic Systems Magazine September 2016 - 5
Aerospace and Electronic Systems Magazine September 2016 - 6
Aerospace and Electronic Systems Magazine September 2016 - 7
Aerospace and Electronic Systems Magazine September 2016 - 8
Aerospace and Electronic Systems Magazine September 2016 - 9
Aerospace and Electronic Systems Magazine September 2016 - 10
Aerospace and Electronic Systems Magazine September 2016 - 11
Aerospace and Electronic Systems Magazine September 2016 - 12
Aerospace and Electronic Systems Magazine September 2016 - 13
Aerospace and Electronic Systems Magazine September 2016 - 14
Aerospace and Electronic Systems Magazine September 2016 - 15
Aerospace and Electronic Systems Magazine September 2016 - 16
Aerospace and Electronic Systems Magazine September 2016 - 17
Aerospace and Electronic Systems Magazine September 2016 - 18
Aerospace and Electronic Systems Magazine September 2016 - 19
Aerospace and Electronic Systems Magazine September 2016 - 20
Aerospace and Electronic Systems Magazine September 2016 - 21
Aerospace and Electronic Systems Magazine September 2016 - 22
Aerospace and Electronic Systems Magazine September 2016 - 23
Aerospace and Electronic Systems Magazine September 2016 - 24
Aerospace and Electronic Systems Magazine September 2016 - 25
Aerospace and Electronic Systems Magazine September 2016 - 26
Aerospace and Electronic Systems Magazine September 2016 - 27
Aerospace and Electronic Systems Magazine September 2016 - 28
Aerospace and Electronic Systems Magazine September 2016 - 29
Aerospace and Electronic Systems Magazine September 2016 - 30
Aerospace and Electronic Systems Magazine September 2016 - 31
Aerospace and Electronic Systems Magazine September 2016 - 32
Aerospace and Electronic Systems Magazine September 2016 - 33
Aerospace and Electronic Systems Magazine September 2016 - 34
Aerospace and Electronic Systems Magazine September 2016 - 35
Aerospace and Electronic Systems Magazine September 2016 - 36
Aerospace and Electronic Systems Magazine September 2016 - 37
Aerospace and Electronic Systems Magazine September 2016 - 38
Aerospace and Electronic Systems Magazine September 2016 - 39
Aerospace and Electronic Systems Magazine September 2016 - 40
Aerospace and Electronic Systems Magazine September 2016 - 41
Aerospace and Electronic Systems Magazine September 2016 - 42
Aerospace and Electronic Systems Magazine September 2016 - 43
Aerospace and Electronic Systems Magazine September 2016 - 44
Aerospace and Electronic Systems Magazine September 2016 - 45
Aerospace and Electronic Systems Magazine September 2016 - 46
Aerospace and Electronic Systems Magazine September 2016 - 47
Aerospace and Electronic Systems Magazine September 2016 - 48
Aerospace and Electronic Systems Magazine September 2016 - 49
Aerospace and Electronic Systems Magazine September 2016 - 50
Aerospace and Electronic Systems Magazine September 2016 - 51
Aerospace and Electronic Systems Magazine September 2016 - 52
Aerospace and Electronic Systems Magazine September 2016 - 53
Aerospace and Electronic Systems Magazine September 2016 - 54
Aerospace and Electronic Systems Magazine September 2016 - 55
Aerospace and Electronic Systems Magazine September 2016 - 56
Aerospace and Electronic Systems Magazine September 2016 - 57
Aerospace and Electronic Systems Magazine September 2016 - 58
Aerospace and Electronic Systems Magazine September 2016 - 59
Aerospace and Electronic Systems Magazine September 2016 - 60
Aerospace and Electronic Systems Magazine September 2016 - 61
Aerospace and Electronic Systems Magazine September 2016 - 62
Aerospace and Electronic Systems Magazine September 2016 - 63
Aerospace and Electronic Systems Magazine September 2016 - 64
Aerospace and Electronic Systems Magazine September 2016 - 65
Aerospace and Electronic Systems Magazine September 2016 - 66
Aerospace and Electronic Systems Magazine September 2016 - 67
Aerospace and Electronic Systems Magazine September 2016 - 68
Aerospace and Electronic Systems Magazine September 2016 - Cover3
Aerospace and Electronic Systems Magazine September 2016 - Cover4
http://www.brightcopy.net/allen/aesm/34-2s
http://www.brightcopy.net/allen/aesm/34-2
http://www.brightcopy.net/allen/aesm/34-1
http://www.brightcopy.net/allen/aesm/33-12
http://www.brightcopy.net/allen/aesm/33-11
http://www.brightcopy.net/allen/aesm/33-10
http://www.brightcopy.net/allen/aesm/33-09
http://www.brightcopy.net/allen/aesm/33-8
http://www.brightcopy.net/allen/aesm/33-7
http://www.brightcopy.net/allen/aesm/33-5
http://www.brightcopy.net/allen/aesm/33-4
http://www.brightcopy.net/allen/aesm/33-3
http://www.brightcopy.net/allen/aesm/33-2
http://www.brightcopy.net/allen/aesm/33-1
http://www.brightcopy.net/allen/aesm/32-10
http://www.brightcopy.net/allen/aesm/32-12
http://www.brightcopy.net/allen/aesm/32-9
http://www.brightcopy.net/allen/aesm/32-11
http://www.brightcopy.net/allen/aesm/32-8
http://www.brightcopy.net/allen/aesm/32-7s
http://www.brightcopy.net/allen/aesm/32-7
http://www.brightcopy.net/allen/aesm/32-6
http://www.brightcopy.net/allen/aesm/32-5
http://www.brightcopy.net/allen/aesm/32-4
http://www.brightcopy.net/allen/aesm/32-3
http://www.brightcopy.net/allen/aesm/32-2
http://www.brightcopy.net/allen/aesm/32-1
http://www.brightcopy.net/allen/aesm/31-12
http://www.brightcopy.net/allen/aesm/31-11s
http://www.brightcopy.net/allen/aesm/31-11
http://www.brightcopy.net/allen/aesm/31-10
http://www.brightcopy.net/allen/aesm/31-9
http://www.brightcopy.net/allen/aesm/31-8
http://www.brightcopy.net/allen/aesm/31-7
https://www.nxtbookmedia.com