Author : Jackson Empey
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (135 download)
Book Synopsis Wind Sensing and Rejection for Agile Fixed-wing Unmanned Aerial Vehicles by : Jackson Empey
Download or read book Wind Sensing and Rejection for Agile Fixed-wing Unmanned Aerial Vehicles written by Jackson Empey and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Agile fixed-wing unmanned aerial vehicles (UAVs) are an emerging class of autonomous aircraft that combine the efficient distance flight of conventional fixed-wings with the maneuverability, and ability to hover, of multi-rotor platforms. These characteristics make agile fixed-wings compelling candidates for a wide variety of missions from search and rescue to surveillance. The remarkable maneuverability of these platforms is largely due to their low weight, and powerful thrusters, which drive reliable and fast slipstream airflow over the control surfaces, keeping them effective during low-speed flight.While their low weight is critical to the agility of this class of UAV, it also makes them highly susceptible to wind and can present challenges for precision flight outdoors. The objective of this thesis is to reject wind disturbances on agile fixed-wing platforms while minimizing any reductions to the performance of the agile fixed-wing.To achieve this objective, a modular, feedforward, wind rejection controller, relying on a wind estimate, was developed to improve the performance of existing agile fixed-wing controllers in outdoor environments. To provide a wind estimate to this controller while maintaining the platform's agility, only one additional sensor, an airspeed sensor placed near the platform's body is required. Since this sensor location is impacted by propeller slipstream, a model-based approach to removing slipstream flow from airspeed measurements is used as part of a larger wind estimation architecture. Simulations and experimental flights were conducted to validate both the feedforward controller and model-based slipstream removal"--