Nonlinear control of fixed-wing UAVs in presence of stochastic winds

•Control of fixed-wing UAVs in the presence of stochastic wind is proposed.•An extended Kalman filter is proposed for state estimation and noise filtering.•A case study of landing the UAV on a ship deck is included.•UAV’s state relative to the vessel is estimated via LADAR measurements. This paper s...

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Bibliographic Details
Published in:Communications in nonlinear science & numerical simulation 2016-04, Vol.33, p.57-69
Main Authors: Rubio Hervas, Jaime, Reyhanoglu, Mahmut, Tang, Hui, Kayacan, Erdal
Format: Article
Language:English
Subjects:
Extended Kalman filter
Nonlinear control
State estimation
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Summary:•Control of fixed-wing UAVs in the presence of stochastic wind is proposed.•An extended Kalman filter is proposed for state estimation and noise filtering.•A case study of landing the UAV on a ship deck is included.•UAV’s state relative to the vessel is estimated via LADAR measurements. This paper studies the control of fixed-wing unmanned aerial vehicles (UAVs) in the presence of stochastic winds. A nonlinear controller is designed based on a full nonlinear mathematical model that includes the stochastic wind effects. The air velocity is controlled exclusively using the position of the throttle, and the rest of the dynamics are controlled with the aileron, elevator, and rudder deflections. The nonlinear control design is based on a smooth approximation of a sliding mode controller. An extended Kalman filter (EKF) is proposed for the state estimation and filtering. A case study is presented: landing control of a UAV on a ship deck in the presence of wind based exclusively on LADAR measurements. The effectiveness of the nonlinear control algorithm is illustrated through a simulation example.
ISSN:1007-5704
1878-7274
DOI:10.1016/j.cnsns.2015.08.026