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UAV longitudinal autopilot design using SLC and TECS controllers

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Abstract

UAVs are becoming increasingly prevalent in a wide range of fields, including surveillance, photography, agriculture, transportation, and communications. Hence, research institutions have developed a range of linear and non-linear controllers that can enhance the stability and efficiency of these UAVs while performing their assigned tasks. In this paper, we present a longitudinal autopilot design for the Sky Sailor solar UAV using two different control techniques. The first technique is a classic controller known as SLC (Successive Loop Closure), which is based on consecutive closed loops using a PID controller. The second technique is the TECS (Total Energy Control System) controller, which uses the specified total energy rate and energy distribution rate to regulate the airspeed and altitude of the UAV. After detailing the working principle of each controller and calculating the tuning parameters for each one, we applied the two techniques to the non-linear model that describes the behavior of the Sky Sailor UAV using MATLAB Simulink. The simulation results showed that the TECS controller is superior to the SLC controller in terms of stability and energy efficiency. As such, this technique is an excellent choice for solar drones, as it can increase their endurance.

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Abbreviations

\(p,q,r\) :

Attitude angles rate, (rad/s)

\(u,v,w\) :

Inertial velocity components of the airframe projected onto xb-axis

\({V}_{a}\) :

Airspeed vector

\({C}_{M}\) :

Aerodynamic pitching moment coefficient along the yb-axis

\({C}_{L}\) :

Aerodynamic moment coefficient along the xb-axis

\({C}_{N}\) :

Aerodynamic moment coefficient along zb-axis.

\({C}_{prop}\) :

Aerodynamic coefficient for the propeller

\({C}_{X}\) :

Aerodynamic force coefficient along xb

\({C}_{Y}\) :

Aerodynamic force coefficient along yb

\({C}_{Z}\) :

Aerodynamic force coefficient along zb.

\({\delta }_{a}\) :

Aileron deflection

\({\delta }_{e}\) :

Elevator deflection

\({\delta }_{r}\) :

Rudder deflection

\({\delta }_{t}\) :

Throttle deflection

\(g\) :

Gravitational acceleration (9.81 m/\({S}^{2}\))

\(h\) :

Altitude

\({\text{J}}\) :

The inertia matrix

\({{\text{J}}}_{x},{{\text{J}}}_{Y},{{\text{J}}}_{z}, {\text{and }} {{\text{J}}}_{xz}\)  :

Elements of the inertia matrix

\({{\text{K}}}_{{\text{motor}}}\) :

Constant that specifies the efficiency of the motor

\({{\text{S}}}_{{\text{prop}}}\) :

Area of the propeller

PID:

PID (proportional, integral, derivative) controller

LQR:

Linear–quadratic regulator

SLC:

Successive Loop Closure controller

TECS:

Total Energy Control System controller

\(\phi ,\theta ,\psi\) :

Attitude angles, (rad)

\(\alpha\) :

Angle of attack.

\(\beta\) :

Side slip angle.

\(\gamma\) :

Inertial-referenced flight path angle

\(\Gamma\) :

Products of the inertia matrix

\(\rho\) :

Density of air

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Authors and Affiliations

  1. Laboratory of Process Control LCP, Department of Engineering, Control Systems and Applied Mathematics, National Polytechnic School ENP of Algiers, 10, St Hacen Badi El Harrach, Algiers, Algeria

    Nourddine Ghelem & Djamel Boudana

  2. Department of Electrical Engineering, LREA Laboratory University of Medea, Medea, Algeria

    Ouahid Bouchhida

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  1. Nourddine Ghelem
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Correspondence to Nourddine Ghelem.

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Ghelem, N., Boudana, D. & Bouchhida, O. UAV longitudinal autopilot design using SLC and TECS controllers. CEAS Aeronaut J 15, 351–362 (2024). https://doi.org/10.1007/s13272-023-00711-9

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