Download or read book Design of Digital Control Algorithms for Unmanned Air Vehicles written by Steven J. Froncillo and published by . This book was released on 1998-03-01 with total page 100 pages. Available in PDF, EPUB and Kindle. Book excerpt: Recent advances in the design of high performance aircraft, such as fly by wire controls, complex autopilot systems, and unstable platforms for greater maneuverability, are all possible due to the use of digital control systems. With the aid of modem control tools and techniques based on state-space methods, the aerospace engineer has the ability to design a dynamic aircraft model, verify its accuracy, and design and implement the controller within a matter of a few months. This work examines the digital control design process utilizing a Rapid Prototyping System developed at the Naval Postgraduate School. The entire design process is presented, from design of the controller to implementation and flight test on an Unmanned Air Vehicle (UAV).

Download or read book DESIGN AND IMPLEMENTATION OF MODERN CONTROL ALGORITHMS FOR UNMANNED AERIAL VEHICLES written by AHMED. Kamal El-Din Hafez and published by . This book was released on 2014 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book State Estimation and Control for Low cost Unmanned Aerial Vehicles written by Chingiz Hajiyev and published by Springer. This book was released on 2015-06-10 with total page 239 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book discusses state estimation and control procedures for a low-cost unmanned aerial vehicle (UAV). The authors consider the use of robust adaptive Kalman filter algorithms and demonstrate their advantages over the optimal Kalman filter in the context of the difficult and varied environments in which UAVs may be employed. Fault detection and isolation (FDI) and data fusion for UAV air-data systems are also investigated, and control algorithms, including the classical, optimal, and fuzzy controllers, are given for the UAV. The performance of different control methods is investigated and the results compared. State Estimation and Control of Low-Cost Unmanned Aerial Vehicles covers all the important issues for designing a guidance, navigation and control (GNC) system of a low-cost UAV. It proposes significant new approaches that can be exploited by GNC system designers in the future and also reviews the current literature. The state estimation, control and FDI methods are illustrated by examples and MATLAB® simulations. State Estimation and Control of Low-Cost Unmanned Aerial Vehicles will be of interest to both researchers in academia and professional engineers in the aerospace industry. Graduate students may also find it useful, and some sections are suitable for an undergraduate readership.

Download or read book Design and Implementation of Modern Control Algorithms for Unmanned Aerial Vehicles written by and published by . This book was released on 2014 with total page 416 pages. Available in PDF, EPUB and Kindle. Book excerpt: Recently, Unmanned Aerial Vehicles (UAVs) have attracted a great deal of attention in academic, civilian and military communities as prospective solutions to a wide variety of applications. The use of cooperative UAVs has received growing interest in the last decade and this provides an opportunity for new operational paradigms. As applications of UAVs continue to grow in complexity, the trend of using multiple cooperative UAVs to perform these applications rises in order to increase the overall effectiveness and robustness. There is a need for generating suitable control techniques that allow for the real-time implementation of control algorithms for different missions and tactics executed by a group of cooperative UAVs. In this thesis, we investigate possible control patterns and associated algorithms for controlling a group of autonomous UAVs in real-time to perform various tactics. This research proposes new control approaches to solve the dynamic encirclement, tactic switching and formation problems for a group of cooperative UAVs in simulation and real-time. Firstly, a combination of Feedback Linearization (FL) and decentralized Linear Model Predictive Control (LMPC) is used to solve the dynamic encirclement problem. Secondly, a combination of decentralized LMPC and fuzzy logic control is used to solve the problem of tactic switching for a group of cooperative UAVs. Finally, a decentralized Learning Based Model Predictive Control (LBMPC) is used to solve the problem of formation for a group of cooperative UAVs in simulation. We show through simulations and validate through experiments that the proposed control policies succeed to control a group of cooperative UAVs to achieve the desired requirements and control objectives for different tactics. These proposed control policies provide reliable and effective control techniques for multiple cooperative UAV systems.

Download or read book Control of Autonomous Aerial Vehicles written by Andrea L'Afflitto and published by Springer Nature. This book was released on 2023-11-20 with total page 363 pages. Available in PDF, EPUB and Kindle. Book excerpt: Control of Autonomous Aerial Vehicles is an edited book that provides a single-volume snapshot on the state of the art in the field of control theory applied to the design of autonomous unmanned aerial vehicles (UAVs), aka “drones”, employed in a variety of applications. The homogeneous structure allows the reader to transition seamlessly through results in guidance, navigation, and control of UAVs, according to the canonical classification of the main components of a UAV’s autopilot. Each chapter has been written to assist graduate students and practitioners in the fields of aerospace engineering and control theory. The contributing authors duly present detailed literature reviews, conveying their arguments in a systematic way with the help of diagrams, plots, and algorithms. They showcase the applicability of their results by means of flight tests and numerical simulations, the results of which are discussed in detail. Control of Autonomous Aerial Vehicles will interest readers who are researchers, practitioners or graduate students in control theory, autonomous systems or robotics, or in aerospace, mechanical or electrical engineering.

Download or read book Small Unmanned Aircraft written by Randal W. Beard and published by Princeton University Press. This book was released on 2012-02-26 with total page 317 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous unmanned air vehicles (UAVs) are critical to current and future military, civil, and commercial operations. Despite their importance, no previous textbook has accessibly introduced UAVs to students in the engineering, computer, and science disciplines--until now. Small Unmanned Aircraft provides a concise but comprehensive description of the key concepts and technologies underlying the dynamics, control, and guidance of fixed-wing unmanned aircraft, and enables all students with an introductory-level background in controls or robotics to enter this exciting and important area. The authors explore the essential underlying physics and sensors of UAV problems, including low-level autopilot for stability and higher-level autopilot functions of path planning. The textbook leads the student from rigid-body dynamics through aerodynamics, stability augmentation, and state estimation using onboard sensors, to maneuvering through obstacles. To facilitate understanding, the authors have replaced traditional homework assignments with a simulation project using the MATLAB/Simulink environment. Students begin by modeling rigid-body dynamics, then add aerodynamics and sensor models. They develop low-level autopilot code, extended Kalman filters for state estimation, path-following routines, and high-level path-planning algorithms. The final chapter of the book focuses on UAV guidance using machine vision. Designed for advanced undergraduate or graduate students in engineering or the sciences, this book offers a bridge to the aerodynamics and control of UAV flight.

Download or read book Unmanned Aircraft Design written by Mohammad Sadraey and published by Morgan & Claypool Publishers. This book was released on 2017-09-19 with total page 211 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides fundamental principles, design procedures, and design tools for unmanned aerial vehicles (UAVs) with three sections focusing on vehicle design, autopilot design, and ground system design. The design of manned aircraft and the design of UAVs have some similarities and some differences. They include the design process, constraints (e.g., g-load, pressurization), and UAV main components (autopilot, ground station, communication, sensors, and payload). A UAV designer must be aware of the latest UAV developments; current technologies; know lessons learned from past failures; and they should appreciate the breadth of UAV design options. The contribution of unmanned aircraft continues to expand every day and over 20 countries are developing and employing UAVs for both military and scientific purposes. A UAV system is much more than a reusable air vehicle or vehicles. UAVs are air vehicles, they fly like airplanes and operate in an airplane environment. They are designed like air vehicles; they have to meet flight critical air vehicle requirements. A designer needs to know how to integrate complex, multi-disciplinary systems, and to understand the environment, the requirements and the design challenges and this book is an excellent overview of the fundamentals from an engineering perspective. This book is meant to meet the needs of newcomers into the world of UAVs. The materials are intended to provide enough information in each area and illustrate how they all play together to support the design of a complete UAV. Therefore, this book can be used both as a reference for engineers entering the field or as a supplementary text for a UAV design course to provide system-level context for each specialized topic.

Download or read book Advances in Unmanned Aerial Vehicles written by Kimon P. Valavanis and published by Springer Science & Business Media. This book was released on 2008-02-26 with total page 552 pages. Available in PDF, EPUB and Kindle. Book excerpt: The past decade has seen tremendous interest in the production and refinement of unmanned aerial vehicles, both fixed-wing, such as airplanes and rotary-wing, such as helicopters and vertical takeoff and landing vehicles. This book provides a diversified survey of research and development on small and miniature unmanned aerial vehicles of both fixed and rotary wing designs. From historical background to proposed new applications, this is the most comprehensive reference yet.

Download or read book Design and Evaluation of a LQR Controller for the Bluebird Unmanned Air Vehicle written by Brian T. Foley and published by . This book was released on 1994 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The modern aerospace controls engineer is provided with a variety of powerful tools to aid in the design and testing of digital flight control systems. The current fiscal environment requires extensive validation of all aerospace based systems through simulation and hardware-in-the-loop testing prior to implementation. This work explores the design and evaluation of an Automatic Flight Control System (AFCS) for the Bluebird Unmanned Aerial Vehicle (UAV). Software tools such as MATLAB and MATRIXx are used to evaluate the dynamic stability of the aircraft model and Linear Quadratic Gaussian algorithms are used to obtain the appropriate controller. Graphical design applications such as SIMULINK and SystemBuild are then used to build a visual block diagram model of the aircraft dynamics and link it with the designed controller. Using this model, the control system response to commanded inputs and external disturbances was evaluated.

Download or read book Algorithms for Unmanned Aerial Vehicle Navigation Systems Simplified Navigation Algorithms for Small Unmanned Aerial Vehicles written by Vladimir Larin and published by Outskirts Press. This book was released on 2019-04-19 with total page 206 pages. Available in PDF, EPUB and Kindle. Book excerpt: The algorithms presented in this book were designed to achieve an acceptable trade-off between contradictive requirements to the software of small UAV navigation systems: sufficient accuracy and reliability in order to perform required flight missions on the one hand, and acceptable cost and simplicity of this software on the other hand. The core of modern navigation systems is integrated Strapdown Inertial Navigation System (SINS) and GPS, so in this book, the SINS algorithms and the algorithms of sensor fusion are described primarily. Inertial sensors (rate gyros and accelerometers) used in SINS are manufactured on the basis of the MEMS-technology. That is why they possess poor accuracy and need to be corrected with other sensors (GPS, magnetometers, and barometric altimeters). It is necessary to take into account that flight missions of small UAVs are characterized by small flight distances, small flight times, small flight speeds, etc. These properties of small UAV flight missions and properties of MEMS-sensors create a practical background for simplification of the SINS algorithms, simultaneously preserving their accuracy at acceptable levels. The navigation algorithms for gyro-free SINS are also considered. Increasing reliability of the UAV navigation systems requires a solution of the problems of the detection of the faulty sensors. These algorithms are described. Some practical aspects of the operation of navigation systems such as initial alignment, sensors calibration, and laboratory, ground, and flight testing of integrated SINS for small UAVs are also presented. This book will be useful for a wide circle of researchers, engineers, and graduate students involved in modern UAV design and manufacturing.

Download or read book Design and Evaluation of a LQR Controller for the Bluebird Unmanned Air Vehicle written by Brian T. Foley and published by . This book was released on 1994 with total page 76 pages. Available in PDF, EPUB and Kindle. Book excerpt: The modern aerospace controls engineer is provided with a variety of powerful tools to aid in the design and testing of digital flight control systems. The current fiscal environment requires extensive validation of all aerospace based systems through simulation and hardware-in-the-loop testing prior to implementation. This work explores the design and evaluation of an Automatic Flight Control System (AFCS) for the Bluebird Unmanned Aerial Vehicle (UAV). Software tools such as MATLAB and MATRIXx are used to evaluate the dynamic stability of the aircraft model and Linear Quadratic Gaussian algorithms are used to obtain the appropriate controller. Graphical design applications such as SIMULINK and SystemBuild are then used to build a visual block diagram model of the aircraft dynamics and link it with the designed controller. Using this model, the control system response to commanded inputs and external disturbances was evaluated.

Download or read book Innovations in Intelligent Machines 1 written by Javaan Singh Chahl and published by Springer. This book was released on 2007-07-07 with total page 277 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is a collection of chapters on the state of art in the area of intelligent machines. This research provides a sound basis to make autonomous systems human-like. The contributions include an introduction to intelligent machines; supervisory control of multiple UAVs; and intelligent autonomous UAV task allocation. Also included is material on UAV path planning; dynamic path planning ; state estimation of micro air vehicles and architecture for soccer playing robots, as well as robot perception.

Download or read book Autonomous Control Systems and Vehicles written by Kenzo Nonami and published by Springer Science & Business Media. This book was released on 2013-05-30 with total page 306 pages. Available in PDF, EPUB and Kindle. Book excerpt: The International Conference on Intelligent Unmanned Systems 2011 was organized by the International Society of Intelligent Unmanned Systems and locally by the Center for Bio-Micro Robotics Research at Chiba University, Japan. The event was the 7th conference continuing from previous conferences held in Seoul, Korea (2005, 2006), Bali, Indonesia (2007), Nanjing, China (2008), Jeju, Korea (2009), and Bali, Indonesia (2010). ICIUS 2011 focused on both theory and application, primarily covering the topics of robotics, autonomous vehicles, intelligent unmanned technologies, and biomimetics. We invited seven keynote speakers who dealt with related state-of-the-art technologies including unmanned aerial vehicles (UAVs) and micro air vehicles (MAVs), flapping wings (FWs), unmanned ground vehicles (UGVs), underwater vehicles (UVs), bio-inspired robotics, advanced control, and intelligent systems, among others. This book is a collection of excellent papers that were updated after presentation at ICIUS2011. All papers that form the chapters of this book were reviewed and revised from the perspective of advanced relevant technologies in the field. The aim of this book is to stimulate interactions among researchers active in the areas pertinent to intelligent unmanned systems.

Download or read book Aircraft Digital Control Design Methods written by Stanford University. Department of Aeronautics and Astronautics and published by . This book was released on 1976 with total page 164 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Guidance and Control Algorithms for UAV Indoor Applications written by Iris David Du Mutel De Pierrepont Franzetti and published by . This book was released on 2020 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The popularity of UAVs has increased during the last years due to the many applications in which such vehicles can get involved and yield benefits. Such uses often require specific behaviours and performances on the part of the aircraft, which can be achieved through guidance and navigation techniques. Nowadays, the trajectory planning of multirotors is an explored topic involving not only trajectory generation but optimization and collision avoidance. The control field is even more scrutinized than the latter, providing multiple solutions towards governing the non-linear dynamics of a drone. In this thesis, two different approaches have been considered regarding the trajectory planning strategy. Dubins curves are presented as the alternative to straight-lined paths, together with a trapezoidal velocity profile as a reference for linear velocities. With Bézier curves, it is intended to go one step further. In this second case, the derivative of the position is used to generate the heading references and the velocity profiles as well. A comparison of the two trajectory planners designed is done throughout Model-in-the-Loop simulation (MILP) in MATLAB. To do so, two simple controllers have been designed: a PID and a Linear Quadratic Regulator (LQR). The mathematical model of the vehicle is obtained from the equations of movement of aircraft assuming some simplifications. Subsequently, a linearization of the model is performed for later generation of the LQR. A brief description of the elements that comprise the real platform on which this project is based is given. Also, the possibility of performing Software-in-the-Loop (SITL) simulation is explained theoretically, as the autopilot mounted on the quadrotor enables the said process. Also, some experimental tests have been conducted in order to obtain the moments of inertia of the existing prototype. This involves the previous construction of a pendulum and the use of a motion capture sensor to record the oscillations during the experiments. Once the model has been presented, the design of controllers is addressed. Quadrotor dynamics tend to be separated into two categories: slow dynamics, regarding position; and fast dynamics, alluding to the attitude. This differentiation is used to build a PID-based cascade controller in which the inner loop controls the attitude and the outer loop is in charge of the position control. Altitude control is handled separately. On the other hand, the LQR created in this project encompasses the whole state making no such difference. Eventually, different flight patterns with increasing difficulty in terms of changes in the states are proposed and the references are produced by both trajectory planners. A comparison between the four combinations of trajectory design and control strategy is provided. Simulations are conducted with the controllers introduced beforehand. The PID presents satisfactory results with both trajectory concepts, even though the attitude control is slow and presents some overshoot. On the other side, the responses obtained with the LQR show oscillations when the heading reference contains changes in such variable. However, when no variation is considered in the heading of the vehicle, the LQR presents a faster response in attitude and a reasonable response in position. Future work of this project involve the improvement of the controllers and the consequent Software-in-the-Loop testing (SITL). Once such process is concluded, it's desired to proceed with Processor-in-the-Loop testing deploying the generated code of the control into the target device, being one step closer to experimental flight tests.

Download or read book Advanced Robust Nonlinear Control Approaches for Quadrotor Unmanned Aerial Vehicle written by Moussa Labbadi and published by Springer Nature. This book was released on 2021-09-14 with total page 263 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book studies selected advanced flight control schemes for an uncertain quadrotor unmanned aerial vehicle (UAV) systems in the presence of constant external disturbances, parametric uncertainties, measurement noise, time-varying external disturbances, and random external disturbances. Furthermore, in all the control techniques proposed in this book, it includes the simulation results with comparison to other nonlinear control schemes recently developed for the tracking control of a quadrotor UAV. The main contributions of the present book for quadrotor UAV systems are as follows: (i) the proposed control methods are based on the high-order sliding mode controller (SMC) and hybrid control algorithm with an optimization method. (ii) the finite-time control schemes are developed by using fast terminal SMC (FTSMC), nonsingular FTSMC (NFTSMC), global time-varying SMC, and adaptive laws. (iii) the fractional-order flight control schemes are developed by using the fractional-order calculus theory, super twisting algorithm, NFTSMC, and the SMC. This book covers the research history and importance of quadrotor system subject to system uncertainties, external wind disturbances, and noise measurements, as well as the research status of advanced flight control methods, adaptive flight control methods, and flight control based on fractional-order theory. The book would be interesting to most academic undergraduate, postgraduates, researchers on flight control for drones and applications of advanced controllers in engineering field. This book presents a must-survey for advanced finite-time control for quadrotor system. Some parts of this book have the potential of becoming the courses for the modelling and control of autonomous flying machines. Readers (academic researcher, undergraduate student, postgraduate student, MBA/executive, and education practitioner) interested in nonlinear control methods find this book an investigation. This book can be used as a good reference for the academic research on the control theory, drones, terminal sliding mode control, and related to this or used in Ph.D. study of control theory and their application in field engineering.

Download or read book Smart Autonomous Aircraft written by Yasmina Bestaoui Sebbane and published by CRC Press. This book was released on 2015-11-18 with total page 434 pages. Available in PDF, EPUB and Kindle. Book excerpt: With the extraordinary growth of Unmanned Aerial Vehicles (UAV) in research, military, and commercial contexts, there has been a need for a reference that provides a comprehensive look at the latest research in the area. Filling this void, Smart Autonomous Aircraft: Flight Control and Planning for UAV introduces the advanced methods of flight contr