Vision-Based Horizon Extraction for Micro Air Vehicle Flight Control

2005 ◽  
Vol 54 (3) ◽  
pp. 1067-1072 ◽  
Author(s):  
G.-Q. Bao ◽  
S.-S. Xiong ◽  
Z.-Y. Zhou
Keyword(s):  
Flight Control ◽  
Micro Air Vehicle ◽  
Air Vehicle

Improving In-Flight Learning in a Flapping Wing Micro Air Vehicle

2016 ◽  
Vol 4 (1) ◽  
pp. 62-75
Author(s):  
Monica Sam ◽  
Sanjay Boddhu ◽  
Kayleigh Duncan ◽  
Hermanus Botha ◽  
John Gallagher
Keyword(s):  
Evolutionary Algorithms ◽  
Control Problem ◽  
Flight Control ◽  
Search Space ◽  
Flapping Wing ◽  
Micro Air Vehicle ◽  
Flight Trajectory ◽  
Air Vehicle ◽  
Major Criterion ◽  
Sampling Approach

Much effort has gone into improving the performance of evolutionary algorithms that augment traditional control in a Flapping Wing Micro Air Vehicle. An EA applied to such a vehicle in flight is expected to evolve solutions quickly to prevent disruptions in following the desired flight trajectory. Time to evolve solutions therefore is a major criterion by which performance of an algorithm is evaluated. This paper presents results of applying an assortment of different evolutionary algorithms to the problem. This paper also presents some discussion on which choices for representation and algorithm parameters would be optimal for the flight control problem and the rationale behind it. The authors also present a guided sampling approach of the search space to make use of the redundancy of workable solutions found in the search space. This approach has been demonstrated to improve learning times when applied to the problem.

Multi-Source Power Harvester for Cyborg Micro Air Vehicle

2010 ◽  
Author(s):  
Rashi Tiwari ◽  
Alex Schlichting ◽  
John Henry Harris ◽  
Timothy Reissman ◽  
Ephrahim Garcia
Keyword(s):  
Energy Harvesting ◽  
Flight Control ◽  
Energy Harvester ◽  
Photovoltaic Cells ◽  
Micro Air Vehicle ◽  
Ambient Light ◽  
Source Power ◽  
Air Vehicle ◽  
Power Harvester ◽  
Energy Harvesting System

The purpose of the reported research is to study the implementation of a sub-one gram, multisource energy harvester, for use on a Cyborg Micro Air Vehicle (CMAV). The CMAV would combine a biological flight platform with onboard communications, flight control, and power generation, providing a useful surveillance and reconnaissance vehicle. The biological platform chosen in this research is the Manduca sexta (Hawkmoth). A multisource energy harvester consisting of photovoltaic cells and a piezoceramic beam is discussed, enabling energy harvesting from vibration as well as ambient light. This paper discusses the results of those investigations and addresses the difficulties in creating the energy harvesting system.

scholarly journals Trajectory Options for MAV Navigation

2012 ◽  
Vol 4 (4) ◽  
pp. 305-313 ◽  
Author(s):  
Chimpalthradi R. Ashokkumar
Keyword(s):  
Flight Control ◽  
Autonomous Navigation ◽  
Vehicle Control ◽  
Micro Air Vehicle ◽  
Input System ◽  
Air Vehicle ◽  
Multiple Input ◽  
Aircraft Trajectories ◽  
Navigation Scheme

Unmanned micro air vehicle control in pitch plane is quite challenging. In order to develop an autonomous navigation scheme in pitch plane, longitudinal autopilot design for flight control modes such as take-off, landing, climb, altitude hold, etc., have been actively pursued in the literature. The aircraft trajectories that a controller generates are important to understand these modes. In this paper, it is shown that a multiple input system can offer infinitely a large number of trajectory options that can be used to develop various flight control modes and plan an MAV navigation scheme. Accordingly, the controllers are determined. An MAV example is considered and trajectory options for climb and descend modes are illustrated.

scholarly journals Dynamic Stability and Flight Control of Biomimetic Flapping-Wing Micro Air Vehicle

Aerospace ◽  
2021 ◽  
Vol 8 (12) ◽  
pp. 362
Author(s):  
Muhammad Yousaf Bhatti ◽  
Sang-Gil Lee ◽  
Jae-Hung Han
Keyword(s):  
Dynamic Stability ◽  
Flight Control ◽  
Search Algorithm ◽  
Flapping Wing ◽  
Micro Air Vehicle ◽  
Flight Speed ◽  
Dynamics Simulation ◽  
Control Block ◽  
Eigenmode Analysis ◽  
Air Vehicle

This paper proposes an approach to analyze the dynamic stability and develop trajectory-tracking controllers for flapping-wing micro air vehicle (FWMAV). A multibody dynamics simulation framework coupled with a modified quasi-steady aerodynamic model was implemented for stability analysis, which was appended with flight control block for accomplishing various flight objectives. A gradient-based trim search algorithm was employed to obtain the trim conditions by solving the fully coupled nonlinear equations of motion at various flight speeds. Eigenmode analysis showed instability that grew with the flight speed in longitudinal dynamics. Using the trim conditions, we linearized dynamic equations of FWMAV to obtain the optimal gain matrices for various flight speeds using the linear-quadratic regulator (LQR) technique. The gain matrices from each of the linearized equations were used for gain scheduling with respect to forward flight speed. The reference tracking augmented LQR control was implemented to achieve transition flight tracking that involves hovering, acceleration, and deceleration phases. The control parameters were updated once in a wingbeat cycle and were changed smoothly to avoid any discontinuities during simulations. Moreover, trajectories tracking control was achieved successfully using a dual loop control approach. Control simulations showed that the proposed controllers worked effectively for this fairly nonlinear multibody system.

scholarly journals Embedded Flight Control Based on Adaptive Sliding Mode Strategy for a Quadrotor Micro Air Vehicle

Electronics ◽  
2019 ◽  
Vol 8 (7) ◽  
pp. 793 ◽  
Author(s):  
Herman Castañeda ◽  
J.L. Gordillo
Keyword(s):  
Flight Control ◽  
Sliding Mode ◽  
Micro Air Vehicle ◽  
Closed Loop System ◽  
Adaptive Sliding Mode ◽  
External Perturbations ◽  
Adaptive Sliding Mode Controller ◽  
Air Vehicle ◽  
Chattering Effect ◽  
Bounded Uncertainties

The design of an embedded flight controller for a quadrotor micro air vehicle, which is subject to uncertainties and perturbations, is addressed. In order to obtain robustness against bounded uncertainties and disturbances, an adaptive sliding mode controller is proposed. The control adaptive gains allow using only necessary control to satisfy the task, reducing the chattering effect and at the same time reject external perturbations. Furthermore, a stability analysis of the closed-loop system is given. Finally, simulations and experimental results carried out on a commercial micro air vehicle demonstrate the feasibility and advantages of the proposed flight controller.

Bird-mimetic Wing System of Flapping-wing Micro Air Vehicle with Autonomous Flight Control Capability

2016 ◽  
Vol 13 (3) ◽  
pp. 458-467 ◽  
Author(s):  
Sriyulianti Widhiarini ◽  
Ji Hwan Park ◽  
Bum Soo Yoon ◽  
Kwang Joon Yoon ◽  
Il-Hyun Paik ◽  
...  
Keyword(s):  
Flight Control ◽  
Flapping Wing ◽  
Micro Air Vehicle ◽  
Autonomous Flight ◽  
Air Vehicle ◽  
Control Capability
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