Optimal attitude control parameters via stochastic optimization framework for autonomous aircraft

Danilo F. Bassi, Wolfgang Fink

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

An attitude control system based on a traditional feedback control with optimized parameters is presented. This system is part of a much larger global control structure designed for autonomous robotic aircraft. The global control structure consists of a high level structure for mission and supervision control, an intermediate structure for navigation and obstacle management, and a low level structure control, which deals with stability and attitude control. Thus is of paramount importance to have a highly efficient low level control since it affects directly the upper levels and ultimately the full aircraft operation. The solution for finding the best control parameters is found by applying a Stochastic Optimization Framework (SOF; Fink, SPIE 2008) to optimize aircraft response for low level commands, which are for the airplane the attitude angles (roll, pitch, and yaw) and the engine throttle. The basic controllers for the attitude are conventional PID controllers for each controlled variable. The SOF optimization procedure tries to find global parameters for these controllers to optimize the global performance index, i.e., to minimize the sum of the squared integration errors of all the controllers. In consequence the optimized parameters significantly improve low level control (attitude regulation and changing).

Original languageEnglish (US)
Title of host publication2009 IEEE Aerospace Conference
DOIs
StatePublished - Sep 21 2009
Externally publishedYes
Event2009 IEEE Aerospace Conference - Big Sky, MT, United States
Duration: Mar 7 2009Mar 14 2009

Publication series

NameIEEE Aerospace Conference Proceedings
ISSN (Print)1095-323X

Other

Other2009 IEEE Aerospace Conference
CountryUnited States
CityBig Sky, MT
Period3/7/093/14/09

ASJC Scopus subject areas

  • Aerospace Engineering
  • Space and Planetary Science

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  • Cite this

    Bassi, D. F., & Fink, W. (2009). Optimal attitude control parameters via stochastic optimization framework for autonomous aircraft. In 2009 IEEE Aerospace Conference [4839611] (IEEE Aerospace Conference Proceedings). https://doi.org/10.1109/AERO.2009.4839611