A hardware-in-the-loop testing facility for unmanned aerial vehicle sensor suites and control algorithms

2021 ◽  
Author(s):  
Keith Wayne Sevcik
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Control Algorithms ◽  
Hardware In The Loop ◽  
Testing Facility ◽  
Aerial Vehicle ◽  
And Control ◽  
Vehicle Sensor

scholarly journals Analysis of Methods and Control Systems of Unmanned Platforms

2021 ◽  
Vol 51 (4) ◽  
pp. 143-156
Author(s):  
Mirosław Adamski ◽  
Andrzej Żyluk ◽  
Marcin Chodnicki
Keyword(s):  
Control Systems ◽  
Unmanned Aerial Vehicle ◽  
Trajectory Planning ◽  
Three Dimensions ◽  
Control Algorithms ◽  
Aerial Vehicle ◽  
And Control

Abstract The key aspect affecting the safety of routing and the unmanned platform mission execution is the autonomy of control systems. To achieve the mission goal, control algorithms supported by advanced sensors have to estimate the obstacle location. Moreover, it is needed to identify potential obstacles, as well as algorithms for trajectory planning in two or three dimensions space. The use of these algorithms allows to create an intelligent object that performs tasks in difficult conditions in which communication between the platform and the operator is constricted. The article mainly focuses on unmanned aerial vehicle (UAV) control systems.

Modeling and control of a quadrotor tail-sitter unmanned aerial vehicles

2021 ◽  
pp. 095965182110504
Author(s):  
Hongbo Xin ◽  
Yujie Wang ◽  
Xianzhong Gao ◽  
Qingyang Chen ◽  
Bingjie Zhu ◽  
...  
Keyword(s):  
Control System ◽  
Unmanned Aerial Vehicles ◽  
Unmanned Aerial Vehicle ◽  
Euler Angle ◽  
Level Flight ◽  
Aerial Vehicles ◽  
Flight Mode ◽  
Aerial Vehicle ◽  
Hover Flight ◽  
And Control

The tail-sitter unmanned aerial vehicles have the advantages of multi-rotors and fixed-wing aircrafts, such as vertical takeoff and landing, long endurance and high-speed cruise. These make the tail-sitter unmanned aerial vehicle capable for special tasks in complex environments. In this article, we present the modeling and the control system design for a quadrotor tail-sitter unmanned aerial vehicle whose main structure consists of a traditional quadrotor with four wings fixed on the four rotor arms. The key point of the control system is the transition process between hover flight mode and level flight mode. However, the normal Euler angle representation cannot tackle both of the hover and level flight modes because of the singularity when pitch angle tends to [Formula: see text]. The dual-Euler method using two Euler-angle representations in two body-fixed coordinate frames is presented to couple with this problem, which gives continuous attitude representation throughout the whole flight envelope. The control system is divided into hover and level controllers to adapt to the two different flight modes. The nonlinear dynamic inverse method is employed to realize fuselage rotation and attitude stabilization. In guidance control, the vector field method is used in level flight guidance logic, and the quadrotor guidance method is used in hover flight mode. The framework of the whole system is established by MATLAB and Simulink, and the effectiveness of the guidance and control algorithms are verified by simulation. Finally, the flight test of the prototype shows the feasibility of the whole system.

scholarly journals Dynamic Stability and Control of a Manipulating Unmanned Aerial Vehicle

2018 ◽  
Vol 2018 ◽  
pp. 1-13 ◽  
Author(s):  
Yunping Liu ◽  
Xijie Huang ◽  
Yonghong Zhang ◽  
Yukang Zhou
Keyword(s):  
Stability Analysis ◽  
Lyapunov Exponent ◽  
Dynamic Stability ◽  
Unmanned Aerial Vehicle ◽  
Impedance Control ◽  
System Stability ◽  
Constructive Method ◽  
Aerial Vehicle ◽  
And Control ◽  
The Impact

This paper focuses on the dynamic stability analysis of a manipulator mounted on a quadrotor unmanned aerial vehicle, namely, a manipulating unmanned aerial vehicle (MUAV). Manipulator movements and environments interaction will extremely affect the dynamic stability of the MUAV system. So the dynamic stability analysis of the MUAV system is of paramount importance for safety and satisfactory performance. However, the applications of Lyapunov’s stability theory to the MUAV system have been extremely limited, due to the lack of a constructive method available for deriving a Lyapunov function. Thus, Lyapunov exponent method and impedance control are introduced, and the Lyapunov exponent method can establish the quantitative relationships between the manipulator movements and the dynamics stability, while impedance control can reduce the impact of environmental interaction on system stability. Numerical simulation results have demonstrated the effectiveness of the proposed method.

Development of Autonomous Quad-Tilt-Wing (QTW) Unmanned Aerial Vehicle: Design, Modeling, and Control

2010 ◽  
pp. 77-93 ◽  
Author(s):  
Kenzo Nonami ◽  
Farid Kendoul ◽  
Satoshi Suzuki ◽  
Wei Wang ◽  
Daisuke Nakazawa
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Vehicle Design ◽  
Modeling And Control ◽  
Aerial Vehicle ◽  
And Control

Modeling and control of a quadrotor unmanned aerial vehicle using type-2 fuzzy systems

2021 ◽  
pp. 25-46
Author(s):  
Ayad Al-Mahturi ◽  
Fendy Santoso ◽  
Matthew A. Garratt ◽  
Sreenatha G. Anavatti
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Fuzzy Systems ◽  
Modeling And Control ◽  
Aerial Vehicle ◽  
And Control
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