Using bond graphs for modelling, identification and control of a fixed wing UAV for subscale flight testing

Gerrit Adriaan Folkertsma, Jeroen Minnema, Luiz Carlos S. Góes, Leandro R. Cunha

Research output: Contribution to conferencePaperpeer-review


Subscale flight testing requires control and identification of unmanned aerial vehicles, in turn, these two aspects both require a competent dynamic model of the system. This work uses the port-based Bond Graph graphical modeling framework to model and simulate the dynamics and aerodynamics of a fixed wing unmanned aerial vehicle (UAV). This model is used to design a total energy compensated based controller (TECS) and to perform system identification using the Output Error Method (OEM). The platform of this work consists of two UAVs, a subscale model of a BAE Hawk fighter jet and a commercially available drone, the Vector-P. These UAVs are used to determine the aerodynamic derivatives and compare these with simulations, wind tunnel and real airplane data. Proper subscale flight testing requires repetitive steady flight conditions, which can only be properly realized using a stabilizing autopilot. The multidisciplinary nature of UAVs make them especially suitable for modeling using bond graphs, a universal domain-independent energy and port- based modeling framework. The explicit representation of energy in bond graph modelling matches very well with TECS control and provides valuable insights in controller operation and opens new doors to future UAV controlling techniques based on Port Hamiltonian systems.
Original languageEnglish
Number of pages9
Publication statusPublished - 25 Oct 2019
Event25th ABCM International Congress of Mechanical Engineering, COBEM 2019 - Uberlândia, Brazil
Duration: 20 Oct 201925 Oct 2019
Conference number: 25


Conference25th ABCM International Congress of Mechanical Engineering, COBEM 2019
Abbreviated titleABCM.COBEM.2019

Cite this