Aircraft attitude control methods

Abstract

A method for controlling an aircraft includes receiving, via a processor of the aircraft, one or more signals indicative of a target attitude and a current attitude of the aircraft, determining, via the processor, an error in attitude based on comparing the target attitude and the current attitude, and generating, via the processor, a command signal for at least one propulsion unit of the aircraft based at least in part on the error in attitude and a feedback loop with angular acceleration feedback.

What is claimed is: 
     
         1 . A method for controlling an aircraft, comprising:
 receiving, via a processor of the aircraft, one or more signals indicative of a target attitude and a current attitude of the aircraft;   determining, via the processor, an error in attitude based on comparing the target attitude and the current attitude; and   generating, via the processor, a command signal for at least one propulsion unit of the aircraft based at least in part on the error in attitude and a feedback loop with angular acceleration feedback.   
     
     
         2 . The method of  claim 1 , further comprising:
 obtaining one or more aircraft configuration parameters based on one or more physical characteristics of the aircraft.   
     
     
         3 . The method of  claim 2 , wherein the command signal is generated further based on a feedforward loop using at least one of the one or more aircraft configuration parameters. 
     
     
         4 . The method of  claim 3 , wherein the one or more aircraft configuration parameters comprise a moment of inertia of the aircraft. 
     
     
         5 . The method of  claim 3 , wherein the one or more aircraft configuration parameters comprise at least one of a spatial dimension, a shape, a weight, a weight distribution, a density, a center of gravity, an aerodynamic center, or an axial distance calculated from a propulsion unit to the aerodynamic center of the aircraft. 
     
     
         6 . The method of  claim 1 , wherein generating the command signal further comprises:
 generating, via the processor, a target angular velocity for the at least one propulsion unit of the aircraft based at least in part on the error in attitude and a fuzzy logic; and   determining, via the processor, an error in angular velocity based on comparing the target angular velocity and a measured angular velocity, wherein the measured angular velocity is measured via one or more sensors coupled to the aircraft.   
     
     
         7 . The method of  claim 6 , wherein generating the command signal further comprises:
 generating, via the processor, a target angular acceleration for the at least one propulsion unit of the aircraft based at least in part on the error in angular velocity; and   determining, via the processor, an error in angular acceleration based on comparing the target angular acceleration and a measured angular acceleration, wherein the measured angular acceleration is measured via the one or more sensors coupled to the aircraft.   
     
     
         8 . The method of  claim 1 , wherein the one or more signals indicative of the current attitude of the aircraft are generated by measuring, via one or more sensors coupled to the aircraft, dynamics of the aircraft resulting from actuation of one or more propulsion units of the aircraft. 
     
     
         9 . The method of  claim 1 , wherein the one or more signals indicative of the target attitude of the aircraft are received from an external device over a wireless connection. 
     
     
         10 . A control system for an aircraft, comprising:
 one or more processors, individually or collectively, configured to:   receive one or more signals indicative of a target attitude and a current attitude of the aircraft;   determine an error in attitude based on comparing the target attitude and the current attitude; and   generate a command signal for at least one propulsion unit of the aircraft based at least in part on the error in attitude and a feedback loop with angular acceleration feedback.   
     
     
         11 . The control system of  claim 10 , wherein the one or more processors, individually or collectively, are further configured to:
 obtain one or more aircraft configuration parameters based on one or more physical characteristics of the aircraft.   
     
     
         12 . The control system of  claim 11 , wherein the command signal is generated further based on a feedforward loop using at least one of the one or more aircraft configuration parameters. 
     
     
         13 . The control system of  claim 12 , wherein the one or more aircraft configuration parameters comprise a moment of inertia of the aircraft. 
     
     
         14 . The control system of  claim 10 , wherein the one or more processors, individually or collectively, are further configured to:
 generate a target angular velocity for the at least one propulsion unit of the aircraft based at least in part on the error in attitude and a fuzzy logic; and   determine an error in angular velocity based on comparing the target angular velocity and a measured angular velocity, wherein the measured angular velocity is measured via one or more sensors coupled to the aircraft.   
     
     
         15 . The control system of  claim 14 , wherein the one or more processors, individually or collectively, are further configured to:
 generate a target angular acceleration for the at least one propulsion unit of the aircraft based at least in part on the error in angular velocity; and   determine an error in angular acceleration based on comparing the target angular acceleration and a measured angular acceleration, wherein the measured angular acceleration is measured via the one or more sensors coupled to the aircraft.   
     
     
         16 . An unmanned aerial vehicle (UAV), comprising:
 one or more propulsion units for generating a lift; and   one or more processors, individually or collectively, configured to:
 receive one or more signals indicative of a target attitude and a current attitude of the UAV; 
 determine an error in attitude based on comparing the target attitude and the current attitude; and 
 generate a command signal for at least one propulsion unit of the UAV based at least in part on the error in attitude and a feedback loop with angular acceleration feedback. 
   
     
     
         17 . The UAV of  claim 16 , wherein the one or more processors, individually or collectively, are further configured to:
 obtain one or more aircraft configuration parameters based on one or more physical characteristics of the UAV.   
     
     
         18 . The UAV of  claim 17 , wherein the command signal is generated further based on a feedforward loop using at least one of the aircraft configuration parameters. 
     
     
         19 . The UAV of  claim 16 , wherein the one or more processors, individually or collectively, are further configured to:
 generate a target angular velocity for the at least one propulsion unit of the UAV based at least in part on the error in attitude and a fuzzy logic; and   determine an error in angular velocity based on comparing the target angular velocity and a measured angular velocity, wherein the measured angular velocity is measured via one or more sensors coupled to the UAV.   
     
     
         20 . The UAV of  claim 19 , wherein the one or more processors, individually or collectively, are further configured to:
 generate a target angular acceleration for the at least one propulsion unit of the UAV based at least in part on the error in angular velocity; and   determine an error in angular acceleration based on comparing the target angular acceleration and a measured angular acceleration, wherein the measured angular acceleration is measured via the one or more sensors coupled to the UAV.