An Architecture for Automatic Tuning of the Navigation System of Unmanned Aerial Vehicles

View at Publisher| Export | Download | Add to List | More... 2013 International Conference on Unmanned Aircraft Systems, ICUAS 2013 - Conference Proceedings 2013, Article number 6564737, Pages 592-598 2013 International Conference on Unmanned Aircraft Systems, ICUAS 2013; Atlanta, GA; United States; 28 May 2013 through 28 May 2013; Category numberCFP13VAD-ART; Code 98737 An architecture for automatic tuning of the navigation system of Unmanned Aerial Vehicles (Conference Paper) Catena, A., Melita, C.D., Muscato, G. Dipartimento di Ingegneria Elettrica Elettronica e Informatica, University of Catania, Catania, Italy View references (23) Abstract In this paper the architecture developed for the automatic tuning of the control loops of Unmanned Aerial Vehicles is presented. In order to validate this architecture, the VOLCAN UAV has been used as test platform. The simplified control system of the VOLCAN UAV, based on cascade controls of PIDs, is introduced, together with the automatic procedure that has been implemented. A Human Machine Interface allows the rapid automatic tuning of the system by means of Åström and Hägglund's method. Finally, the Hardware in the Loop architecture used to test both the control algorithms and the tuning procedure is presented.