| Description |
1 online resource illustrations |
| Contents |
Front Cover -- Design of Control Laws and State Observers for Fixed-Wing UAVs -- Copyright -- Contents -- List of figures -- List of tables -- Preface -- Acknowledgments -- Synopsis -- 1 Introduction -- 1.1 Classification of UAVs -- 1.2 Nonmilitary applications of fixed-wing UAVs -- 1.3 Control systems in fixed-wing UAVs -- 1.4 State observer systems in fixed-wing UAVs -- 2 Aerodynamic principles -- 2.1 The importance of aerodynamic principles -- 2.1.1 The atmosphere -- 2.1.2 Atmospheric pressure -- 2.1.3 Standard atmosphere -- 2.1.4 Air temperature -- 2.1.5 Air density -- 2.1.6 Airplane wing |
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2.1.7 Bernoulli theorem -- 2.1.8 The center of pressure -- 2.2 Forces acting in flight -- 2.2.1 Flight opposition (resistance) -- 2.2.2 Thrust -- 2.2.3 Lift -- 2.3 Axes of an airplane -- 2.3.1 Aircraft control surfaces -- 2.3.2 The structure of an airplane -- 2.4 Concluding remarks -- 3 Equations of motion of a fixed-wing UAV -- 3.1 Control surfaces of a fixed-wing MAV -- 3.2 Frame coordinates in fixed-wing UAVs -- 3.3 Governing physics of a fixed-wing UAV -- 3.4 Motion of a rigid body -- 3.5 Kinematic model -- 3.6 Uncoupled model of the fixed-wing UAV -- 3.6.1 Longitudinal dynamics |
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3.6.2 Directional and lateral dynamics -- Directional dynamics (yaw angle) -- Lateral dynamics (roll angle) -- 3.6.3 Change of variables -- 3.7 Concluding remarks -- 4 Linear controllers -- 4.1 PD and PID controllers -- 4.2 LQR controller -- 4.3 LQR controller with the discrete-time Kalman filter -- 4.4 Concluding remarks -- 5 Nonlinear controllers -- 5.1 Nested saturation controller -- 5.2 Backstepping controller -- 5.3 Sliding mode controller -- 5.4 Nested saturation with sliding mode -- 5.5 Nested saturation with 2-SM -- 5.6 Nested saturation with HOSM -- 5.7 Backstepping with SM |
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5.8 Backstepping with 2-SM -- 5.9 Backstepping with HOSM -- 5.10 MIT rule based on the gradient method with sliding mode theory -- 5.11 Concluding remarks -- 6 State observers -- 6.1 Applications and concepts of state observers in control theory -- 6.2 Complementary filters -- 6.3 Sliding mode observers -- 6.3.1 Sliding surface -- 6.3.2 Shear effect and sliding patch -- 6.3.3 System damping -- 6.4 Nonlinear extended state observer -- 6.5 Backstepping observer -- 6.6 Simulation results of the control laws with observers -- 6.6.1 PD control law with observers |
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6.6.2 Backstepping control law with observers -- 6.6.3 Roll motion simulations with PD control law with observers -- 6.6.4 Yaw motion simulations with PD control law with observers -- 6.6.5 Altitude motion simulations with PD control law with observers -- 6.6.6 Roll motion simulations with backstepping control law with observers -- 6.6.7 Yaw motion simulations with backstepping control law with observers -- 6.6.8 Altitude movement simulations with backstepping control law with observers -- 6.7 Concluding remarks -- 7 Testbed and experimental results -- 7.1 Experimental testbed |
| Summary |
Design of Control Laws and State Observers for Fixed-Wing UAVs: Simulation and Experimental Approaches provides readers with modeling techniques, simulations, and results from real-time experiments using linear and nonlinear controllers and state observers. The book starts with an overview of the history of UAVs and the equations of motion applied to them. Following chapters analyze linear and nonlinear controllers, state observers, and the book concludes with a chapter discussing testbed development and experimental results, equipping readers with the knowledge they need to conduct their own stable UAV flights whether in simulation or real-time |
| Subject |
Drone aircraft -- Control systems.
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Linear control systems.
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Nonlinear control theory.
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Drone aircraft -- Control systems
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Linear control systems
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Nonlinear control theory
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| Form |
Electronic book
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| Author |
Dzul, Alejandro E., author
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Morado, Ricardo Pavel Parada, author
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Esqueda, Jose Armando Saenz, author
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| ISBN |
0323954049 |
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9780323954051 |
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0323954057 |
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9780323954044 |
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