Algebraic dominant pole placement methodology for unmanned aircraft systems with time delay

We address the problem of path-following control for unmanned aircraft systems when an imaging sensor is used to measure the vehicle's lateral, longitudinal, and heading dynamics. Despite its advantages, image processing is computationally intensive and introduces latencies, limiting the contro...

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Bibliographic Details
Published in:IEEE transactions on aerospace and electronic systems 2016-06, Vol.52 (3), p.1108-1119
Main Authors: Espinoza Quesada, Eduardo Steed, Garcia Carrillo, Luis Rodolfo, Ramirez, Adrian, Mondie, Sabine
Format: Article
Language:English
Subjects:
Algebra
Controllers
Delay effects
Delays
Dynamical systems
Dynamics
Gain
Imaging
Methodology
Tuning
Unmanned aircraft
Vehicle dynamics
Vehicles
Visualization
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Summary:We address the problem of path-following control for unmanned aircraft systems when an imaging sensor is used to measure the vehicle's lateral, longitudinal, and heading dynamics. Despite its advantages, image processing is computationally intensive and introduces latencies, limiting the controller gains required to ensure stability. To overcome this issue, we design and successfully implement, in real time, a methodology for tuning the controller gains using spectral techniques for time-delay systems.
ISSN:0018-9251
1557-9603
DOI:10.1109/TAES.2016.140800