Stochastic Longitudinal Autopilot Tuning for Best Autonomous Flight Performance of a Morphing VTOL Drone
Abstract
In this conference paper autonomous flight performance maximization of a morphing vertical take-off and landing (i.e., VTOL) drone is considered by using stochastic optimization approach. For flight control system a PID based hierarchical control system is applied. In this paper PID controller which is used for pitch angle is considered. In this research only longitudinal flight and longitudinal control system is evaluated during aircraft mode where the pitch motion is in primary interest and the used control surface is the elevator of VTOL drone. For optimization approach simultaneous perturbation stochastic approximation (i.e., SPSA) is chosen. It is fast and safe in stochastic optimization problems when it is not possible to evaluate gradient analytically. At the end of this paper a cost function consisting terms such that settling time, rise time and overshoot is minimized. A detailed graphical analysis is made in order to better evaluate effect of morphing on longitudinal flight of a morphing vertical take-off and landing drone flight. Moreover, the cost function consists of rise time, settling time, and overshoot during trajectory tracking.
References
- Alanezi, M. A., Haruna, Z., Sha’aban, Y. A., Bouchekara, H. R. E. H., Nahas, M., & Shahriar, M. S. (2022). Obstacle avoidance-based autonomous navigation of a quadrotor system. Drones, 6(10), 1–19. https://doi.org/10.3390/drones6100288
- Coban, S., Bilgic, H. H., & Akan, E. (2020). Improving autonomous performance of a passive morphing fixed wing UAV. Information Technology and Control, 49(1), 28–35. https://doi.org/10.5755/j01.itc.49.1.23275
- Falanga, D., Kleber, K., Mintchev, S., Floreano, D., & Scaramuzza, D. (2019). The Foldable Drone: A Morphing Quadrotor That Can Squeeze and Fly. IEEE Robotics and Automation Letters, 4(2), 209–216. https://doi.org/10.1109/LRA.2018.2885575
Abstract
References
- Alanezi, M. A., Haruna, Z., Sha’aban, Y. A., Bouchekara, H. R. E. H., Nahas, M., & Shahriar, M. S. (2022). Obstacle avoidance-based autonomous navigation of a quadrotor system. Drones, 6(10), 1–19. https://doi.org/10.3390/drones6100288
- Coban, S., Bilgic, H. H., & Akan, E. (2020). Improving autonomous performance of a passive morphing fixed wing UAV. Information Technology and Control, 49(1), 28–35. https://doi.org/10.5755/j01.itc.49.1.23275
- Falanga, D., Kleber, K., Mintchev, S., Floreano, D., & Scaramuzza, D. (2019). The Foldable Drone: A Morphing Quadrotor That Can Squeeze and Fly. IEEE Robotics and Automation Letters, 4(2), 209–216. https://doi.org/10.1109/LRA.2018.2885575
Details
| Primary Language | English |
|---|---|
| Subjects | Computer System Software |
| Journal Section | Articles |
| Authors | |
| Early Pub Date | October 5, 2023 |
| Publication Date | September 30, 2023 |
| Published in Issue | Year 2023 Volume: 23 |
