This paper presents the nonlinear six degrees of freedom dynamic modeling of a fixed wing micro air vehicle. The static derivatives of the micro air vehicle are obtained through the wind tunnel testing. The propeller effects on the lift, drag, pitching moment and side force are quantified through wind tunnel testing. The dynamic derivatives are obtained through empirical relations available in the literature. The trim conditions are computed for a straight and constant altitude flight condition. The linearized longitudinal and lateral state space models are obtained about trim conditions. The variations in short period mode, phugoid mode, Dutch roll mode, roll subsidence mode and spiral mode with respect to different trim operating conditions is presented. A stabilizing static output feedback controller is designed using the obtained model. Successful closed loop flight trials are conducted with the static output feedback controller.
A solution to the waypoint navigation problem for the fixed wing micro air vehicles (MAV) having a severe coupling between longitudinal and lateral dynamics, in the framework of integrated guidance and control (IGC) is addressed in this paper. IGC yields a single step solution to the waypoint navigation problem, unlike conventional multiple loop design. The pure proportional navigation (PPN) guidance law is integrated with the coupled MAV dynamics. A multivariable static output feedback (SOF) controller is designed for the linear state space model formulated in IGC framework. A waypoint navigation algorithm is proposed that handles the minimum turn radius constraint of the MAV and also evaluates the feasibility of reaching a waypoint. Non-linear simulations with and without wind disturbances are performed on a high fidelity 150 mm wingspan MAV model to demonstrate the proposed waypoint navigation algorithm.
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