ガイダンス、ナビゲーション、制御

ガイダンスモデルとナビゲーション、制御コマンド、ウェイポイント追従アルゴリズム

固定翼とマルチローターのガイダンスモデルを制御入力と環境入力でシミュレーションします。ナビゲーションアルゴリズムを使用して、事前定義済みの飛行ミッションを実行します。

関数

ガイダンスモデル

`fixedwing`	Guidance model for fixed-wing UAVs
`multirotor`	Guidance model for multirotor UAVs
`control`	Control commands for UAV
`derivative`	Time derivative of UAV states
`environment`	Environmental inputs for UAV
`state`	UAV state vector

ナビゲーションアルゴリズム

`uavPathManager`	Compute and execute a UAV autonomous mission
`uavWaypointFollower`	Follow waypoints for UAV
`uavOrbitFollower`	Orbit location of interest using a UAV

ブロック

Path Manager	Compute and execute a UAV autonomous mission
Orbit Follower	Orbit location of interest using UAV
Waypoint Follower	Follow waypoints for UAV
Guidance Model	Reduced-order model for UAV
Multi-Instance Guidance Model	Reduced-order model for multiple UAVs (R2025a 以降)
Fixed-Wing UAV Point Mass	Integrate fourth- or sixth-order point mass equations of motion in coordinated flight (R2021a 以降)

VTOL コントローラーテンプレート

Design and Tune Controller for VTOL UAV

This series of examples shows you how to design and tune a Vertical Takeoff and Landing (VTOL) UAV controller by using a reference application template as a MATLAB® Project. For more information about MATLAB Projects, see プロジェクトの作成.
- ステップ 1: Tune Control Design for VTOL UAV in Hover Configuration
- ステップ 2: Tune Hover Control Design for VTOL UAV in Steady Wind Condition
- ステップ 3: Multiloop Control Design for VTOL UAV in Fixed Wing Flight
- ステップ 4: Tune Control Design for VTOL UAV in Transition
- ステップ 5: VTOL UAV Battery Sizing for Mission Over an Urban Environment
- ステップ 6: Visualize VTOL UAV Mission Over Urban Environment
- ステップ 7: PX4 Hardware-in-the-Loop (HITL) Simulation with VTOL UAV Tilt-Rotor Plant in Simulink
- ステップ 8: Visualize PX4 Hardware-in-the-Loop (HITL) Simulation with VTOL UAV Over Urban Environment
- ステップ 9: Customize VTOL UAV Configuration

トピック

Simulate Multiple Fixed-Wing UAVs in Simulink Using System Objects
Simulate multiple UAVs flying in a waypoint following mission using Simulink
Improve UAV Position Estimation with Kalman Filter
Create a basic Kalman Filter to estimate UAV position.

注目の例

Design and Tune Controller for VTOL UAV

This series of examples shows you how to design and tune a Vertical Takeoff and Landing (VTOL) UAV controller by using a reference application template as a MATLAB® Project. For more information about MATLAB Projects, see プロジェクトの作成.

ライブスクリプトを開く

UAV Inflight Failure Recovery

Use Control System Tuner to tune the fixed-structure PID controllers of a multicopter for nominal flight conditions and fault conditions. Here, you use a gain-scheduled approach to recover from a single rotor failure and land the UAV.