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Integrated reconfigurable control and guidance based on evaluation of degraded performance

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Integrated reconfigurable control and guidance based on evaluation of degraded performance

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dc.contributor.advisor Hyo-Sang Shin es_ES
dc.contributor.advisor Hoyas Calvo, Sergio es_ES
dc.contributor.author Casabán Lillo, Ernest es_ES
dc.date.accessioned 2015-05-13T12:20:37Z
dc.date.available 2015-05-13T12:20:37Z
dc.date.created 2014-09-30
dc.date.issued 2015-05-13
dc.identifier.uri http://hdl.handle.net/10251/50173
dc.description.abstract The present M.Sc thesis is focused on studying an integrated reconfigurable control and guidance approach for recovering a small fixed-wing UAV from different actuator faults, which cover locked in place (stuck), floating and loss of effectiveness. Multiple simultaneous control surface faults can also be considered with this algorithm. The model of the UAV Aerosonde is used during the simulations, which are carried out in MATLAB/Simulink. First, a reconfigurable control system based on the control allocation technique is designed and tested for a variety of faults, specially locked in place control surfaces. Reconfiguration with this technique is shown to successfully recover the aircraft from the fault in some cases; while on the other hand, for other cases it is not enough to guarantee success on the planned mission. Therefore the system must, based on a measure of performance degradation, be able to detect whether the vehicle will be able to recover from the fault and carry out the full mission just by reconfiguring control or if at any point control deficiency is such that it will be necessary to change guidance command. For these situations where performance degradation is such that the prescribed trajectory cannot be achieved, a reconfigurable guidance system is developed, which is capable of adapting parameters such as the minimum turning radius and the look-ahead distance for obstacle avoidance to allow the vehicle to dynamically generate a path which guides the aircraft around the no-fly zones taking into account the post-fault reduced performance. Path following is performed by means of a non-linear lateral guidance law and a collision avoidance algorithm is implemented as well. Finally the integration of control reconfiguration and guidance adaptation is carried out to maximize probabilities of post-failure success in the mission. The link between both systems consists of using as a measure of performance degradation an error parameter from the control allocation algorithm. Although approximate, this results to be an efficient way of deciding the required degree of reconfiguration in the guidance command when an accurate prediction of the actual performance is not available. For the cases where it is, the system allows it as an input for more accurate reconfiguration. es_ES
dc.format.extent 150 es_ES
dc.language Inglés es_ES
dc.publisher Universitat Politècnica de València es_ES
dc.rights Reserva de todos los derechos es_ES
dc.subject Actuators es_ES
dc.subject Adaptive control es_ES
dc.subject Aerosonde es_ES
dc.subject Autonomous es_ES
dc.subject Control allocation es_ES
dc.subject Failure es_ES
dc.subject Fault es_ES
dc.subject Fault tolerant es_ES
dc.subject Reconfiguration es_ES
dc.subject UAV es_ES
dc.subject.classification INGENIERIA AEROESPACIAL es_ES
dc.subject.other Grado en Ingeniería Aeroespacial-Grau en Enginyeria Aeroespacial es_ES
dc.title Integrated reconfigurable control and guidance based on evaluation of degraded performance es_ES
dc.type Proyecto/Trabajo fin de carrera/grado es_ES
dc.rights.accessRights Cerrado es_ES
dc.contributor.affiliation Universitat Politècnica de València. Escuela Técnica Superior de Ingeniería del Diseño - Escola Tècnica Superior d'Enginyeria del Disseny es_ES
dc.description.bibliographicCitation Casabán Lillo, E. (2014). Integrated reconfigurable control and guidance based on evaluation of degraded performance. Universitat Politècnica de València. http://hdl.handle.net/10251/50173 es_ES
dc.description.accrualMethod Archivo delegado es_ES


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