Search results for "Adaptive Control Law"

showing 3 items of 3 documents

Automatic Take Off and Landing for UAS Flying in Turbulent Air - An EKF Based Procedure

2020

An innovative use of the Extended Kalman Filter (EKF) is proposed to perform automatic take off and landing by the rejection of disturbances due to turbulence. By using two simultaneously working Extended Kalman Filters, a procedure is implemented: the first filter, by using measurements gathered in turbulent air, estimates wind components; the second one, by using the estimated disturbances, obtains command laws that are able to reject disturbances. The fundamental innovation of such a procedure consists in the fact that the covariance matrices of process (Q) and measurement (R) noise are not treated as filter design parameters. In this way determined optimal values of the aforementioned m…

0209 industrial biotechnologyExtended Kalman filter020901 industrial engineering & automationTurbulenceComputer scienceControl theory0103 physical sciencesExtended Kalman FilterAdaptive control laws Automatic take off/landing Extended Kalman FilterSettore ING-IND/03 - Meccanica Del Volo02 engineering and technology01 natural sciences010305 fluids & plasmas
researchProduct

An EKF Based Method for Path Following in Turbulent Air

2017

An innovative use of the Extended Kalman Filter (EKF) is proposed to perform both accurate path following and adequate disturbance rejection in turbulent air. The tuned up procedure employs simultaneously two different EKF: the first one estimates gust disturbances, the second one estimates modified aircraft parameters. The first filter, by using measurements gathered in turbulent air, estimates both aircraft states and wind components. The second one, by using the estimated disturbances, obtains command laws that are able to reject disturbances. The predictor of the second EKF uses the estimated wind components to solve motion equations in turbulent air. Besides a set of unknown stability …

Fluid Flow and Transfer Processes020301 aerospace & aeronautics0209 industrial biotechnologyEngineeringbusiness.industryTurbulenceSettore ING-IND/03 - Meccanica Del VoloAerospace EngineeringEquations of motion02 engineering and technologyAerodynamicsStability (probability)Stability derivativesSet (abstract data type)Extended Kalman filterFilter (large eddy simulation)020901 industrial engineering & automation0203 mechanical engineeringControl and Systems EngineeringControl theoryAdaptive control laws Extended Kalman Filter Trajectory trackingElectrical and Electronic EngineeringbusinessPhysics::Atmospheric and Oceanic PhysicsInternational Review of Aerospace Engineering (IREASE)
researchProduct

Automatic EKF tuning for UAS path following in turbulent air

2018

By using two simultaneously working Extended Kalman Filters, a procedure is implemented in order to perform in a fully autonomous way the path following in turbulent air. To guarantee the robustness of the proposed algorithm, an automatic tuning procedure is proposed to determine optimal values of Process and Measurement Noise statistics. Such a procedure is based on both the characteristics of the disturbances and the desired flight path; in particular, a specific performance index is applied to tune filters. In this way control laws are adapted to the flight condition and these lead to an optimal path-following. This research represents an upload of previous papers. It allows eliminating …

Fluid Flow and Transfer ProcessesAutomatic tuningTurbulenceComputer sciencePath followingAerospace EngineeringExtended Kalman FilterSettore ING-IND/03 - Meccanica Del VoloKalman filterTrajectory TrackingTrial and errorExtended Kalman filterUploadControl and Systems EngineeringRobustness (computer science)Control theoryControl OptimizationAdaptive Control LawElectrical and Electronic Engineering
researchProduct