scholarly journals Planar Smooth Path Guidance Law for a Small Unmanned Aerial Vehicle with Parameter Tuned by Fuzzy Logic

2017 ◽  
Vol 2017 ◽  
pp. 1-11 ◽  
Author(s):  
Yang Chen ◽  
Jianhong Liang ◽  
Chaolei Wang ◽  
Yicheng Zhang ◽  
Tianmiao Wang ◽  
...  
Keyword(s):  
Fuzzy Logic ◽  
Unmanned Aerial Vehicle ◽  
Oscillation Amplitude ◽  
Mathematical Expression ◽  
Path Following ◽  
Simulation Experiments ◽  
Guidance Law ◽  
Smooth Path ◽  
Aerial Vehicle ◽  
The Stability

A guidance law has been designed to guide the small unmanned aerial vehicle towards the predefined horizontal smooth path. The guidance law only needs the mathematical expression for the predefined path, the positions, and the velocities of the vehicle in the horizontal inertial frame. The stability of the guidance law has been demonstrated by the Lyapunov stability arguments. In order to improve the path following performance, one of the parameters of the guidance law is tuned by using the fuzzy logic which will still keep its stability. The simulation experiments in the Matlab/Simulink environment to realize the square-, circular-, and the athletics track-style paths following are given to verify the effectiveness of the proposed method. The simulation results show that the path following performance will be improved with smaller overshoot and oscillation amplitude and shorter arrival time with the parameter tuned.

scholarly journals High-precision prescribed-time path following for quadrotor

2020 ◽  
Vol 17 (2) ◽  
pp. 172988142092005
Author(s):  
Yibo Ding ◽  
Xiaogang Wang ◽  
Yuliang Bai ◽  
Naigang Cui
Keyword(s):  
Unmanned Aerial Vehicle ◽  
High Precision ◽  
Control Structure ◽  
Sliding Mode ◽  
Path Following ◽  
Guidance Law ◽  
Aerial Vehicle ◽  
The Stability ◽  
Flight Scheme ◽  
Compensation Function

A high-precision prescribed-time guidance law is developed for a quadrotor to accomplish precise path following at predesigned time T. Firstly, a new control structure is proposed for a quadrotor to perform fixed-velocity back-to-turn flying mode by introducing four controllers, which can realize a non-sideslip and bank-to-turn flight scheme just like a fixed-wing unmanned aerial vehicle. Then, prescribed-time guidance law is presented based on fixed-velocity back-to-turn flying mode via combining sliding mode control with a compensation function [Formula: see text] to improve tracking precision of conventional methods. Compensation function [Formula: see text] is designed to make state error achieve convergence at prescribed time exactly. Meanwhile, global sliding mode is established to enhance robustness of the system. Then, the stability and characteristic of prescribed-time convergence are proved strictly. Finally, simulations with a 6-degree-of-freedom quadrotor model are carried out to demonstrate the effectiveness and superiority of prescribed-time guidance law by comparing with traditional guidance law.

Optimal model-free fuzzy logic control for autonomous unmanned aerial vehicle

2021 ◽  
pp. 095441002110253
Author(s):  
Hossam E Glida ◽  
Latifa Abdou ◽  
Abdelghani Chelihi ◽  
Chouki Sentouh ◽  
Gabriele Perozzi
Keyword(s):  
Fuzzy Logic ◽  
Unmanned Aerial Vehicle ◽  
Fuzzy Logic Control ◽  
Estimation Error ◽  
Design Parameters ◽  
Multiple Model ◽  
Optimal Model ◽  
Model Free ◽  
Logic Control ◽  
Aerial Vehicle

This article deals with the issue of designing a flight tracking controller for an unmanned aerial vehicle type of quadrotor based on an optimal model-free fuzzy logic control approach. The main design objective is to perform an automatic flight trajectory tracking under multiple model uncertainties related to the knowledge of the nonlinear dynamics of the system. The optimal control is also addressed taking into consideration unknown external disturbances. To achieve this goal, we propose a new optimal model-free fuzzy logic–based decentralized control strategy where the influence of the interconnection term between the subsystems is minimized. A model-free controller is firstly designed to achieve the convergence of the tracking error. For this purpose, an adaptive estimator is proposed to ensure the approximation of the nonlinear dynamic functions of the quadrotor. The fuzzy logic compensator is then introduced to deal with the estimation error. Moreover, the optimization problem to select the optimal design parameters of the proposed controller is solved using the bat algorithm. Finally, a numerical validation based on the Parrot drone platform is conducted to demonstrate the effectiveness of the proposed control method with various flying scenarios.

Dynamic gyroscope sensors fusion and calibration using Kalman filter

2018 ◽  
Vol 7 (2.3) ◽  
pp. 18
Author(s):  
Mishell D. Lawas ◽  
Sherwin A. Guirnaldo
Keyword(s):  
Kalman Filter ◽  
Unmanned Aerial Vehicle ◽  
Systems Design ◽  
Mean Square ◽  
Fusion Technique ◽  
System Experiment ◽  
Aerial Vehicle ◽  
Sensors Fusion ◽  
The Stability ◽  
Actual Test

The stability of an Unmanned Aerial Vehicle (UAV) during actual flight conditions is one parameter that is very important in systems design in Avionics. In this research, two sensors, the autopilot microcontroller and the smartphone gyroscope sensing mechanism, are fused together and calibrated to monitor the flying behavior of the UAV prior to actual test flights. The two fused sensors and installed inside the UAV for relatively increased sensing accuracy and best flight monitoring capabilities. A Kalman filter is used as fusion technique and a Stewart Motion tracker is also used to test the ruggedness and accuracy of the fused sensor system. Experiment results show that fused system can give an overall mean square error or 1.9729.

scholarly journals An overview of various kinds of wind effects on unmanned aerial vehicle

2019 ◽  
Vol 52 (7-8) ◽  
pp. 731-739 ◽  
Author(s):  
Bo Hang Wang ◽  
Dao Bo Wang ◽  
Zain Anwar Ali ◽  
Bai Ting Ting ◽  
Hao Wang
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Great Influence ◽  
Wind Disturbance ◽  
Wind Fields ◽  
Wind Model ◽  
Aerial Vehicle ◽  
Low Altitude ◽  
The Stability ◽  
The Mathematical Model ◽  
Vehicle Movement

Attitude, speed, and position of unmanned aerial vehicles are susceptible to wind disturbance. The types, characteristics, and mathematical models of the wind, which have great influence on unmanned aerial vehicle in the low-altitude environment, are summarized, including the constant wind, turbulent flow, many kinds of wind shear, and the propeller vortex. Combined with the mathematical model of the unmanned aerial vehicle, the mechanism of unmanned aerial vehicle movement in the wind field is illustrated from three different kinds of viewpoints including velocity viewpoint, force viewpoint, and energy viewpoint. Some simulation tests have been implemented to show the effects of different kinds of wind on unmanned aerial vehicle’s path and flight states. Finally, some proposals are presented to tell reader in which condition, which wind model should be added to simulation, and how to enhance the stability of unmanned aerial vehicle for different kinds of wind fields.

scholarly journals Aerial physical interaction via IDA-PBC

2019 ◽  
Vol 38 (4) ◽  
pp. 403-421 ◽  
Author(s):  
Burak Yüksel ◽  
Cristian Secchi ◽  
Heinrich H. Bülthoff ◽  
Antonio Franchi
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Control Method ◽  
Low Cost ◽  
Surface Inspection ◽  
Physical Interaction ◽  
External Disturbances ◽  
Aerial Vehicle ◽  
Passivity Based Control ◽  
The Stability ◽  
First Time

This paper proposes the use of a novel control method based on interconnection and damping assignment–passivity-based control (IDA-PBC) in order to address the aerial physical interaction (APhI) problem for a quadrotor unmanned aerial vehicle (UAV). The apparent physical properties of the quadrotor are reshaped in order to achieve better APhI performances, while ensuring the stability of the interaction through passivity preservation. The robustness of the IDA-PBC method with respect to sensor noise is also analyzed. The direct measurement of the external wrench, needed to implement the control method, is compared with the use of a nonlinear Lyapunov-based wrench observer and advantages/disadvantages of both methods are discussed. The validity and practicability of the proposed APhI method is evaluated through experiments, where for the first time in the literature, a lightweight all-in-one low-cost force/torque (F/T) sensor is used onboard of a quadrotor. Two main scenarios are shown: a quadrotor responding to external disturbances while hovering (physical human–quadrotor interaction), and the same quadrotor sliding with a rigid tool along an uneven ceiling surface (inspection/painting-like task).

scholarly journals Fuzzy logic controller for predictive vision-based target tracking with an unmanned aerial vehicle

2017 ◽  
Vol 31 (7) ◽  
pp. 368-381 ◽  
Author(s):  
El Houssein Chouaib Harik ◽  
François Guérin ◽  
Frédéric Guinand ◽  
Jean-François Brethé ◽  
Hervé Pelvillain ◽  
...  
Keyword(s):  
Fuzzy Logic ◽  
Target Tracking ◽  
Unmanned Aerial Vehicle ◽  
Fuzzy Logic Controller ◽  
Aerial Vehicle
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