Autonomous Flight Control of Unmanned Small Hobby-Class Helicopter Report 2: Modeling Based on Experimental Identification and Autonomous Flight Control Experiments

2003 ◽  
Vol 15 (5) ◽  
pp. 546-554 ◽  
Author(s):  
Kensaku Hazawa ◽  
◽  
Jinok Shin ◽  
Daigo Fujiwara ◽  
Kazuhiro Igarashi ◽  
...  
Keyword(s):  
Flight Control ◽  
Position Control ◽  
Control Structure ◽  
Controller Design ◽  
Autonomous Flight ◽  
Velocity Models ◽  
Single Output ◽  
Hover Control ◽  
Function Models ◽  
And Control

We developed a small autonomous hobby-class unmanned helicopter that weighs about 9 kg, focusing on attitude and velocity models and controller design. Simge Input Single Output (SISO) transfer function models are derived from brief kinematical analysis and system identification for each of the helicopter dynamics of pitch, roll, yaw, and three direction velocities. We designed six separate controllers based on derived models using LQG and LQI control theory. The models and control structure are verified by experimental results. Accurate position control, namely, hover control and trajectory-following control, is achieved by a simple control algorithm using a designed attitude and velocity control structure. Robustness of the controller against wind was confirmed in a windy-day experiment. To verify robustness against the perturbation of physical helicopter parameters, the controller is applied to a larger helicopter.

Controller Design For Nonlinear Systems Based on Simultaneous Stabilization Theory and Describing Function Models

1988 ◽  
Vol 110 (2) ◽  
pp. 134-142 ◽  
Author(s):  
A. Nassirharand ◽  
J. H. Taylor ◽  
K. N. Reid
Keyword(s):  
Position Control ◽  
Controller Design ◽  
Design Procedure ◽  
Describing Function ◽  
Simultaneous Stabilization ◽  
Single Input Single Output ◽  
Single Output ◽  
Highly Nonlinear ◽  
Sinusoidal Input ◽  
Function Models

A new systematic and algebraic linear control system design procedure for use with highly nonlinear plants is developed. This procedure is based on simultaneous stabilization theory and sinusoidal-input describing function models of the nonlinear plant, and is presently applicable to single-input single-output, time-invariant, deterministic, stable, and continuous-time systems which are representable in standard state-variable differential equation form. Three software utilities to implement the controller design procedure are also outlined. This method and the associated software is applied to a position control problem of the sort encountered in robotics, and the results are compared with those previously obtained using both linear and nonlinear PID control.

Automated System of Stabilization and Position Control of Aviation Equipment

2019 ◽  
pp. 297-330
Author(s):  
Olha Sushchenko
Keyword(s):  
Position Control ◽  
Transfer Functions ◽  
Controller Design ◽  
Robust Stabilization ◽  
Automated System ◽  
Simulink Model ◽  
The Matrix ◽  
Stabilized Platform ◽  
And Control ◽  
The Mathematical Model

In this chapter, the author presents the problems of design of the robust automated system for stabilization and control of platforms with aircraft observation equipment. The mathematical model of the triaxial stabilized platform is developed. The procedure of synthesis of robust stabilization system based on robust structural synthesis is represented. The above-mentioned procedure uses loop-shaping approach and method of the mixed sensitivity. The matrix weighting transfer functions are obtained. The optimization programs in MatLab are developed. The developed procedures are approved based on the results of simulation by means of the appropriate Simulink model. The obtained results can be useful for unmanned aerial vehicles and aircraft of special aviation, which are used for monitoring technical objects and aerial photography. The technical contributions are procedures of the robust controller design represented as the flowchart. The proposed approach is validated by application of the theoretical suppositions to the concrete example and appropriate simulation results.

Automated System of Stabilization and Position Control of Aviation Equipment

2021 ◽  
pp. 995-1029
Author(s):  
Olha Sushchenko
Keyword(s):  
Position Control ◽  
Transfer Functions ◽  
Controller Design ◽  
Robust Stabilization ◽  
Automated System ◽  
Simulink Model ◽  
The Matrix ◽  
Stabilized Platform ◽  
And Control ◽  
The Mathematical Model

In this chapter, the author presents the problems of design of the robust automated system for stabilization and control of platforms with aircraft observation equipment. The mathematical model of the triaxial stabilized platform is developed. The procedure of synthesis of robust stabilization system based on robust structural synthesis is represented. The above-mentioned procedure uses loop-shaping approach and method of the mixed sensitivity. The matrix weighting transfer functions are obtained. The optimization programs in MatLab are developed. The developed procedures are approved based on the results of simulation by means of the appropriate Simulink model. The obtained results can be useful for unmanned aerial vehicles and aircraft of special aviation, which are used for monitoring technical objects and aerial photography. The technical contributions are procedures of the robust controller design represented as the flowchart. The proposed approach is validated by application of the theoretical suppositions to the concrete example and appropriate simulation results.

GA BASED SENSOR PLACEMENT AND CONTROL DESIGN FOR REACTIVE NAVIGATION OF MOBILE ROBOTS

2005 ◽  
Vol 02 (02) ◽  
pp. 77-91 ◽  
Author(s):  
XIAOCHUAN WANG ◽  
SIMON X. YANG ◽  
MAX Q.-H. MENG
Keyword(s):  
Genetic Algorithm ◽  
Mobile Robots ◽  
Control Structure ◽  
Controller Design ◽  
Sensor Placement ◽  
Control Design ◽  
Simulation Studies ◽  
Optimal Sensor Placement ◽  
Reactive Navigation ◽  
And Control

In this paper, a novel genetic algorithm based approach is proposed for optimal sensor placement and controller design of a mobile robot to facilitate its reactive navigation and obstacle avoidance in unknown environments. The mobile robots considered in this paper have flexible sensor and control structure. A genetic algorithm is developed to evolve the parameters of optimal sensor placement and controller design simultaneously. The effectiveness of the proposed GA based co-evolution approach to robot sensor placement and control design is demonstrated by simulation studies.

scholarly journals Unmanned cruciform winged glider dynamics and control

2018 ◽  
pp. 55-60
Author(s):  
M. A. Polishchuk ◽  
M. V. Polishchuk
Keyword(s):  
Control Structure ◽  
Longitudinal Axis ◽  
Operating Conditions ◽  
Flight Performance ◽  
Autonomous Flight ◽  
Flight Phase ◽  
Ratio Effect ◽  
Dynamics And Control ◽  
And Control ◽  
Wing Aspect Ratio

Tha paper focuses on the problems of unmanned cruciform winged glider dynamics and control in autonomous flight conditions, and studies the wing aspect ratio effect on its flight performance. The winged glider control structure in the longitudinal and lateral axes is proposed. We carried out a comparative analysis of the ballistic flight ranges of models of different configurations, as well as the flight ranges of models of different configurations in the operating conditions of the control system of the proposed structure. As a result, the structure of the unmanned winged glider targeting system is proposed. The targeting system in the longitudinal axis, unlike the samples used in currently operating models, consists of two subsystems responsible for the unmanned winged glider best range gliding at the first flight phase and the direct aimpoint guidance at the second, i.e. final, flight stage

An Improved Nonlinear Flight Controller Design Using Active Disturbances Rejection Control Method

2013 ◽  
Vol 380-384 ◽  
pp. 332-336
Author(s):  
Zhan Qi Fan ◽  
Lin Liu ◽  
Xun Sun
Keyword(s):  
Neural Network ◽  
Flight Control ◽  
Particle Swarm Optimization Algorithm ◽  
Control Method ◽  
Controller Design ◽  
Wavelet Neural Network ◽  
Control Performance ◽  
Swarm Optimization ◽  
Excellent Control ◽  
And Control

An improved large envelope nonlinear flight control method using active disturbances rejection control (ADRC) method and wavelet neural network is approved in this paper. Wavelet neural network is used to realize the inversion of the 6-DOF nonlinear airplane model. The wavelet neural network is optimized using simulated annealing particle swarm optimization algorithm to improve the approach precision. In order to improve the robustness and control performance in all disturbances, ADRC is used to realize the high precision flight control. The simulation results show that the large envelope flight controller has excellent control performance.

F-16/MATV; Optimal Position Controller Design using Robust and Discrete Linear Quadrature Gaussian [RLQG] Controller

2020 ◽  
Vol 8 (1) ◽  
pp. 70-77
Author(s):  
G. Kassahun Berisha ◽  
◽  
Parvendra Kumar
Keyword(s):  
Control System ◽  
State Space ◽  
Flight Control ◽  
Feedback Linearization ◽  
Position Control ◽  
Controller Design ◽  
Taylor Series Expansion ◽  
High Sensitivity ◽  
Optimal Position ◽  
Design Objective

This paper presents the robust controller design for nonlinear F-16/MATV (Multi–Axis – Thrust - Vectoring) position control system. The linearization of nonlinear flight position system is guaranteed by feedback linearization using Taylor series expansion and the optimal LQG controllers are designed to achieve the steady state flight condition. The comparison of the using continuous and discrete LQG is fully discussed for control system. First the continuous optimal LQG controller is designed for continuous time state space represented flight dynamic system based on separation principle. But the designed optimal LQG controller requires a very large controller gain to achieve the design objective, which lacks high sensitivity and leads to highly cost system. This leads to design a controller using discrete LQG controller for discrete time state space represented flight control system. After implementing this controller into the system in MATLAB Simulink environment, using singular value decomposition technique, it is founded that the performance and robustness of the design objective is satisfied.

scholarly journals Complementary Use of BG and EMR Formalisms for Multiphysics Systems Analysis and Control

2012 ◽  
Author(s):  
Zeineb Chikhaoui ◽  
Julien Gomand ◽  
François Malburet ◽  
Pierre-Jean Barre
Keyword(s):  
Flight Control ◽  
Systems Analysis ◽  
Control Structure ◽  
Bond Graph ◽  
Modeling And Analysis ◽  
Helicopter Flight ◽  
Lumped Parameter ◽  
Lumped Parameter Modeling ◽  
Definition Of ◽  
And Control

In this paper, a complex multiphysics system is modeled using two different energy-based graphical techniques: Bond Graph and Energetic Macroscopic Representation. These formalisms can be used together to analyze, model and control a system. The BG is used to support physical, lumped-parameter modeling and analysis processes, and then EMR is used to facilitate definition of a control structure through inversion-based methodology. This complementarity between both of these tools is set out through a helicopter flight control subsystem.

Modeling and Control of a Novel Electro-Hydrostatic Actuator With a Three-Ports Hydraulic Pump

2020 ◽  
Author(s):  
Fengqi Zhou ◽  
Wenjian Xiao ◽  
Xiaoping Ouyang ◽  
Pengfei Zhang ◽  
Lilin Xu ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Flight Control ◽  
Position Control ◽  
Sliding Mode ◽  
Permanent Magnet Synchronous Motor ◽  
Electrical Power ◽  
Current Control ◽  
Modeling And Control ◽  
Mode Control ◽  
And Control

Abstract The electro-hydrostatic actuator (EHA) is a kind of power-by-wire (PBW) actuator that converts the electrical power into localized hydraulic power for flight control. In order to solve the problem of flow mismatching in the asymmetric cylinder, this paper presents a novel EHA which applies a three-ports fixed displacement pump to work with the asymmetric cylinder. The working principle of the novel EHA is introduced, and its nonlinear mathematical model is built. The sliding-mode control is proposed to control the position loop of the EHA. The controller structure of EHA is built including the position control using sliding-mode control, the speed control using PI, and the current control using PI. The model of mechanical parts including the permanent magnet synchronous motor (PMSM), controller and hydraulic parts are built in the SIMULINK. Simulation results show that the sliding-mode control improves the dynamic response and control accuracy compared with the traditional classic PID.

On Aerial Indoor Position Control and System Integration for Quadcopters Using Lidars and Inertial Measurement Units

2016 ◽  
Author(s):  
Nathan Zimmerman ◽  
Kellen Carey ◽  
Cristinel Ababei
Keyword(s):  
Power Consumption ◽  
Flight Control ◽  
Autonomous Navigation ◽  
Position Control ◽  
System Optimization ◽  
Optimization Techniques ◽  
System Level ◽  
System Level Design ◽  
Level Design ◽  
And Control

The main contribution of this paper is to introduce a computationally efficient iterative closest line (ICL) algorithm for determining indoor position drift of a quadcopter using minimal lidar data. In addition, we present the system-level design and implementation of a new quadcopter both as hardware and flight control algorithms. Such a platform allows us to develop and experiment new control and system optimization techniques. As an example, we discuss how the proposed ICL algorithm is used for position hold and control purposes by plugging it into the low level implementation of the flight control algorithm of the quadcopter. For testing and validation we use simulations with real world data. As part of the system-level design aspects, we present an investigation of the quadcopter power consumption. We are interested in power consumption because it is the major factor that determines the flight time of a typical quadcopter. We believe that this work is a contribution toward achieving better quadcopter design and control for indoor autonomous navigation.

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