Ground Station Sensors
6.2 Future Work
Based on the current results, in the future the following aspects are worth exploring.
First, all the examples provided in this thesis only carry out are 2nd-order Lyapunov functions, it is possible to carry out even better performance after increasing the order of Lyapunov function, i.e., 4th-order, 8th-order. However, it is challenging while extending the algorithm to higher-order for the path-following design structure due to initial setting requirements and also the computational issue. In the 2-nd order path-following structure, we introduce the LQR algorithm to generate potential reasonable variable initials, yet the LQR algorithm can only generate linear controllers. In other words, the strategy of relying on the LQR algorithm to generate initial settings cannot achieve for order higher than 2-nd order. One considered initial setting for higher-order is:
V[n]=V[n−2] (1 +ǫV[n−2]), N >2. (6.1)
whereV[n−2] is a optimal solution of the result inn−2-order. Taken= 4 as an example, the initial setting of 4-th order can be seen as the optimal solutionV[2] times a small 2nd order
76
Section 6.2 Future Work
polynomial, which can possibly give a reasonable and potential initial setting for higher-order case.
Secondly, the parafoil wing-type unmanned aerial vehicles model that we employed in Chapter 5 is a simplified mathematical model. The results shows the potential of applying our proposed algorithm to a more complicated model. And our goal is to carried out a real flight experiment in the future to demonstrate an expanded usability of the proposed algorithm [47,48].
In addition to powered paraglider-type UAV, another type of UAV is flying-wing-type UAV, which is considered to be a very efficiency UAV, as shown in Figure6.1. The control of flying-wing-type UAVs is challenging because they do not have a vertical stabilizer, that is, no rudder. Therefore, from the perspective of control theory and practice, the trajectory tracking stability of flying-wing-type UAVs is still a challenging problem. Moreover, a so-called vertical take-off and landing (VTOL)-type UAV, shown in Figure 6.2, which has a propeller on each side that can be angled forward or upward, like a multirotor aircraft. This kind of mechanism design gives the advantage of adaptability to the ground during take-off and landing.
In the future, the proposed algorithm could be applied to flying-wing-type or VLOT UAVs. It is expected to achieve efficient flight and guaranteed flying performance in simula-tions and real flight experiments.
Figure 6.1: The fly-wing-type UAV.
Chapter 6 Conclusions and Future Work
Figure 6.2: The vertical take-off and landing-type UAV.
78
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