Morgan, Hayden (Brigham Young University), Beard, Randal W. (Brigham Young University)

Flatness-Based Control of a Gimballed Fixed-Wing UAS

Scheduled for presentation during the Regular Session "Control Design III" (ThC2), Thursday, June 17, 2021, 18:00−18:20, Kozani

2021 International Conference on Unmanned Aircraft Systems (ICUAS), June 15-18, 2021, Athens, Greece

This information is tentative and subject to change. Compiled on April 26, 2024

Abstract

This paper derives a differential flatness model for a fixed-wing Unmanned Aircraft System (UAS) together with a gimballed camera. The flat output is the 3D trajectory of the aircraft and the 3D trajectory of a ground target. An LQR controller is then derived so that the UAS follows the desired trajectory and the optical axis is aligned with the line-of-sight vector between the UAS and the target. A simple simulation study shows that the framework can be used to visually track and follow a ground target, maintaining the line-of-sight vector alignment to within 1.2 degree.