Automatic Tuning and Turbulence Mitigation for Fixed-Wing UAV with Segmented Control Surfaces

Abstract

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 38.69% to 43.51% when compared to the independent actuation of aileron pairs in a turbulent atmosphere.

Keywords

• fixed-wing UAV
• segmented control surfaces
• autotuning
• PID control