Nonlinear Control Strategies for an Autonomous Wing-In-Ground-Effect Vehicle

Sensors

卷:21

Ramon A. Suarez Fernandez¹  Sergio Dominguez¹  Claudio Rossi¹  Davide Patria² 

[1] Centre for Automation and Robotics UPM-CSIC, Universidad Politécnica de Madrid, 28006 Madrid, Spain;

[2] Politecnico Di Torino, 10129 Torino, Italy;

关键词: Unmanned Surface Vehicles;    ground effect vehicle;    autonomous WIG craft;    stability;    nonlinear control;   

DOI  :  10.3390/s21124193

来源: DOAJ

【 摘 要 】

Autonomous vehicles are nowadays one of the most important technologies that will be incorporated to every day life in the next few years. One of the most promising kind of vehicles in terms of efficiency and sustainability are those known as Wing-in-Ground crafts, or WIG crafts, a family of vehicles that seize the proximity of ground to achieve a flight with low drag and high lift. However, this kind of crafts lacks of a sound theory of flight that can lead to robust control solutions that guarantees safe autonomous operation in all the cruising phases.In this paper we address the problem of controlling a WIG craft in different scenarios and using different control strategies in order to compare their performance. The tested scenarios include obstacle avoidance by fly over and recovering from a random disturbance in vehicle attitude. MPC (Model Predictive Control) is tested on the complete nonlinear model, while PID, used as baseline controller, LQR (Linear Quadratic Regulator) and adaptive LQR are tested on top of a partial feedback linearization. Results show that LQR has got the best overall performance, although it is seen that different design specifications could lead to the selection of one controller or another.

【 授权许可】

Unknown