NDLI: Optimal attitude control parameters via Stochastic Optimization Framework for autonomous aircraft

Content Provider	IEEE Xplore Digital Library
Author	Bassi, D.F. Fink, W.
Copyright Year	2009
Description	Author affiliation: Villanova University, CENDAC, 800 Lancaster Ave., PA 19085 USA (Bassi, D.F.) \|\| California Institute of Technology, Visual and Autonomous Exploration Systems Research Laboratory, Division of Physics, Mathematics and Astronomy, Mail Code 103-33, Pasadena, 91125, USA (Fink, W.)
Abstract	An attitude control system based on a traditional feedback control with optimized parameters is presented. This system is part of a much larger global control structure designed for autonomous robotic aircraft. The global control structure consists of a high level structure for mission and supervision control, an intermediate structure for navigation and obstacle management, and a low level structure control, which deals with stability and attitude control. Thus is of paramount importance to have a highly efficient low level control since it affects directly the upper levels and ultimately the full aircraft operation. The solution for finding the best control parameters is found by applying a Stochastic Optimization Framework (SOF; Fink, SPIE 2008) to optimize aircraft response for low level commands, which are for the airplane the attitude angles (roll, pitch, and yaw) and the engine throttle. The basic controllers for the attitude are conventional PID controllers for each controlled variable. The SOF optimization procedure tries to find global parameters for these controllers to optimize the global performance index, i.e., to minimize the sum of the squared integration errors of all the controllers. In consequence the optimized parameters significantly improve low level control (attitude regulation and changing).
Starting Page	1
Ending Page	8
File Size	730696
Page Count	8
File Format	PDF
ISBN	9781424426218
ISSN	1095323X
DOI	10.1109/AERO.2009.4839611
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-03-07
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Stochastic processes Aerospace control Aircraft navigation Attitude control Level control Aircraft propulsion Feedback control Control systems Robots Stability
Content Type	Text
Resource Type	Article
Subject	Aerospace Engineering Space and Planetary Science

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