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Unlike bigger aircraft, the small fixed-wing unmanned aerial vehicles face significant stability challenges in a turbulent environment. To improve the flight performance, a fixed-wing UAV with segmented aileron control surfaces has been designed and deployed. A total of four ailerons are attached to the main wing and grouped into inner and outer aileron pairs. The controllers are automatically tuned by utilizing the frequency response data obtained via the frequency sampling filter and the relay with embedded integrator experiments. The hardware validation experiments are performed in the normal and turbulent flight environments under three configurations: inner aileron pair only, outer aileron pair only and collective actuation of all the aileron pairs. The error-threshold-based control is introduced to handle collective actuation of aileron pairs. The experiments have manifested that the collective usage of all aileron segments improves the roll attitude stability by a margin of (For ....
The performance of small fixed-wing unmanned aerial vehicles (UAVs) is easily degraded by exogenous disturbances. In an attempt to improve the performance, the structural change is made in conventional small fixed-wing UAV through segmentation of each aileron control surface into multiples. Detailed system identification experiments are performed on each aileron pair in the wind tunnel to acquire linear dynamic models for the roll attitude of the UAV. These experiments have provided the transfer functions for the aileron control surfaces based on corresponding frequency response. Three distinctive model predictive controllers are designed and deployed in real-time hardware to achieve the roll attitude control. The roll attitude control experiments are validated in wind tunnel under both normal and turbulent environments. The results show that multiple input and single output control system provides significant improvement in the roll attitude and disturbance rejection performance. The ....