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Equivalent Linear Model Identification and Periodic Control of a Mono-Wing Aerial Vehicle

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Abstract

This research is dedicated to investigating the dynamics identification and periodic control of a mono-wing aerial vehicle. The study employs well-established system identification strategies in both time and frequency domains to extract equivalent linear models. By exciting the system dynamics with a frequency sweep signal, non-parametric and parametric models are derived for each control channel, namely the flap and thrust. Furthermore, a comprehensive nonlinear simulation model is developed to facilitate trade study and design optimization. The identified models undergo careful validation using a two-square wave input signal, demonstrating their accuracy through a comparison with flight test data. Moreover, in terms of the control design, a noteworthy achievement is made by proposing a novel approach. The study showcases the effectiveness of a unique combination of multi-loop PID controllers specifically adapted to the time-periodic nature of the system. Remarkably, this approach enables satisfactory control behavior in a 3D environment utilizing only the flap input in the control loop while keeping the motor speed constant. Such a breakthrough holds great significance as it allows for the reliable application of a complex time-periodic aerial vehicle in demanding maneuvers, relying on just a single effective actuator.

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Code or data availability

The datasets generated during the current study are available from the corresponding author upon reasonable request.

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Funding

This work was supported by Iran National Science Foundation (INSF) and Iran’s National Elites Foundation (INEF) grant 98027065.

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Authors and Affiliations

  1. Department of Aerospace Engineering, Sharif University of Technology, Azadi Ave, Tehran, 11365-8639, Tehran, Iran

    Mohammad Hassan Sabeti, Mostafa Ezabadi, Afshin Banazadeh, Fariborz Saghafi & Seyyed Ali Emami

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  1. Mohammad Hassan Sabeti
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  2. Mostafa Ezabadi
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  3. Afshin Banazadeh
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  4. Fariborz Saghafi
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  5. Seyyed Ali Emami
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Contributions

All authors contributed to the study conception, design, and development of the vehicle. Flight tests, initial analysis, development of equations of motion, and simulation program were performed by M. H. Sabeti, M. Ezabadi, A. Banazadeh, and F. Saghafi. The initial draft of the manuscript was written by M. H. Sabeti and M. Ezabadi and completed by S. A. Emami. A. Banazadeh and F. Saghafi reviewed and revised the first version of the paper. The controller design process was fulfilled by S. A. Emami. All authors provided comments on previous versions of the manuscript and approved the final manuscript. This work was supported by Iran National Science Foundation (INSF) and Iran’s National Elites Foundation (INEF) grant 98027065.

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Correspondence to Afshin Banazadeh.

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Sabeti, M.H., Ezabadi, M., Banazadeh, A. et al. Equivalent Linear Model Identification and Periodic Control of a Mono-Wing Aerial Vehicle. J Intell Robot Syst 108, 74 (2023). https://doi.org/10.1007/s10846-023-01924-0

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