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Experimental Validation of Total Energy Control System for UAVs

1
Engineering Faculty, Universidad de San Buenaventura, Carrera 8H 172-20, Bogota 110141, Colombia
2
Institute of Aeronautics and Applied Mechanics, Warsaw University of Technology, 00-665 Warsaw, Poland
*
Author to whom correspondence should be addressed.
Energies 2020, 13(1), 14; https://doi.org/10.3390/en13010014
Received: 15 November 2019 / Revised: 6 December 2019 / Accepted: 10 December 2019 / Published: 18 December 2019
This paper presents an analysis of a Total Energy Control System (TECS) introduced by Lambregts to control unmanned aerial vehicle (UAV) velocity and altitude by using the total energy distribution. Furthermore, an extended Kalman filter (EKF) approach was used to predict aircraft response in terms of angular rates and linear acceleration during a test flight campaign. From both approaches, state equations were obtained to model the aircraft using Matlab-Simulink. From an aerodynamic study, airplane characteristics were obtained in terms of non-dimensional derivatives and compared to those obtained from the experimental methods. It was determined that TECS approach was very accurate; however, disturbance errors could be decreased by adjusting some model parameters. On the other hand, it was difficult to obtain a real estimation from the EKF method due to the presence of turbulence during flight and the relatively low inertia of the scale model. Dynamic characteristics were validated using a low-cost inertial sensor that cab be easily integrated in UAV platforms. The gathered data can be used to predict model characteristics by integrating the information into flight simulators for future design development. View Full-Text
Keywords: Total Energy Control System; dynamics of flight; extended Kalman filter Total Energy Control System; dynamics of flight; extended Kalman filter
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MDPI and ACS Style

Jimenez, P.; Lichota, P.; Agudelo, D.; Rogowski, K. Experimental Validation of Total Energy Control System for UAVs. Energies 2020, 13, 14. https://doi.org/10.3390/en13010014

AMA Style

Jimenez P, Lichota P, Agudelo D, Rogowski K. Experimental Validation of Total Energy Control System for UAVs. Energies. 2020; 13(1):14. https://doi.org/10.3390/en13010014

Chicago/Turabian Style

Jimenez, Pedro, Piotr Lichota, Daniel Agudelo, and Krzysztof Rogowski. 2020. "Experimental Validation of Total Energy Control System for UAVs" Energies 13, no. 1: 14. https://doi.org/10.3390/en13010014

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