Department of Electrical and Electronics Engineering

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Author: search.filters.author.Mukherjee, Bijoy K.Subject: search.filters.subject.Backstepping

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    UAV Performing Level Turn Maneuver Under CG Offset: Backstepping Control Scheme
    (IEEE, 2023) Mukherjee, Bijoy K.
    When an Unmanned Aerial Vehicle (UAV) experiences uneven cargo loading or release, the center of gravity (c.g.) undergoes a lateral shift, leading to complex coupled and non-linear asymmetric dynamics. This poses significant challenges in controlling the UAV, particularly during lateral/directional maneuvers. To ensure the UAV's safety and stability, it becomes imperative to implement nonlinear control strategies. This study tackles the issue by first ad-hoc modeling the asymmetric dynamics and then effectively transforming them into strict feedback form. This transformation guarantees the desired level turn maneuver performance for a fixed-wing UAV, even when facing lateral center of gravity shifts. Subsequently, a backstepping control approach is developed to enable autonomous maneuver execution. Simulation results illustrate that the maneuver performance under lateral asymmetry closely resembles that of the symmetric case, demonstrating the effectiveness and need of the proposed control strategy in handling such scenarios.
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    Asymmetric UAV Performing Pointing Maneuver Under Lateral CG Offset: An Adaptive Backstepping Control Approach
    (IEEE, 2023) Mukherjee, Bijoy K.
    This work addresses the complex issue of autonomously executing the maneuvers with fixed-wing Unmanned aerial vehicles (UAV), which can experience significant lateral center of gravity (c.g.) variations due to uneven cargo loading or release. The study establishes that the asymmetric flight dynamics of the UAV, caused by laterally shifted c.g., can be effectively represented in a block strict feedback form. Subsequently, an adaptive backstepping controller is proposed to enable the closed-loop system to adapt to c.g. variations. The controller’s stability is proven using Lyapunov’s method. To verify the effectiveness of the proposed control scheme, simulations are conducted involving pointing maneuvers with the Aerosonde UAV. The results demonstrate that the proposed scheme exhibits high resilience to lateral c.g. variations and achieves superior tracking performance.