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Erschienen in:
2011 | OriginalPaper | Buchkapitel
8. Outer-Loop Flight Control
verfasst von : Guowei Cai, Ben M. Chen, Tong Heng Lee
Erschienen in: Unmanned Rotorcraft Systems
Verlag: Springer London
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Abstract
We utilize a so-called robust and perfect tracking control technique in Chap. 8 to design the outer-loop control law to control the position of the unmanned system, which is capable of achieving much better performance for situations when complicated maneuvers are required. The robust and perfect tracking control technique is to design a controller such that the resulting closed-loop system is asymptotically stable and the controlled output almost perfectly tracks a given reference signal in the presence of any initial conditions and external disturbances. It makes use of all possible information including the system measurement output and the command reference signal together with all its derivatives, if available, for control. Such a unique feature is particularly useful for the outer-loop layer, in which the position reference and its velocity as well as acceleration all can be measured by the onboard avionic system.