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Two-Step System Identification and Trajectory Tracking Control of a Small Fixed-Wing UAV

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Abstract

An approach for obtaining dynamically feasible reference trajectories and feedback controllers for a small unmanned aerial vehicle (UAV) based on an aerodynamic model derived from flight tests is presented. The modeling method utilizes stepwise multiple regression to determine relevant explanatory terms for the aerodynamic coefficients. A dynamically feasible trajectory is then obtained through the solution of an optimal control problem using pseudospectral optimal control software. Discrete-time feedback controllers are further designed to regulate the vehicle along the desired reference trajectory. Simulations in a realistic operational environment as well as flight testing of the feedback controllers on the aircraft platform demonstrate the capabilities of the approach.

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  1. Department of Aerospace and Ocean Engineering, Virginia Tech, Blacksburg, VA, 24061, USA

    David J. Grymin & Mazen Farhood

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  1. David J. Grymin
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  2. Mazen Farhood
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Correspondence to Mazen Farhood.

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Grymin, D.J., Farhood, M. Two-Step System Identification and Trajectory Tracking Control of a Small Fixed-Wing UAV. J Intell Robot Syst 83, 105–131 (2016). https://doi.org/10.1007/s10846-015-0298-8

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