Download or read book Analytical Approach to Multi objective Joint Inference Control for Fixed Wing Unmanned Aerial Vehicles written by Julian L. Casey and published by . This book was released on 2020 with total page 80 pages. Available in PDF, EPUB and Kindle. Book excerpt: Fixed-wing Unmanned Aerial Vehicles (UAVs) have been found highly useful in various environments, including military and law enforcement. With the increased use of fixed-wing UAVs, there becomes an increased need to optimize the resources available. One approach to resource management is to create multi-objective flights. This thesis presents the design, analysis, and experimental implementation of multi-objective resource management for the resource of Range, distance available to the UAV, from the viewpoint of Intelligence Surveillance and Reconnaissance (ISR). First, a Simulation Environment is created capable of tracking multiple fixed-wing UAVs and to allow for the UAVs' being controlled by an externally driven algorithm. Second, an Inference algorithm is developed with the objective of information seeking. Several algorithms are developed and used in conjunction with a Sequential Analysis test to allow for calculating Target Value, calculating Target Confidence, and validating the calculated Target Value. Third, a Control algorithm is developed with the objective of Target seeking. The Control algorithm uses several approaches to path generation, including Dubins path, Optimized Order path, and Closest Target path. Finally, a supervisor algorithm termed Joint Inference and Control (JIC) joins Inference and Control together. Monte Carlo simulated test flight results are shown to illustrate the effectiveness of the developed algorithms.
Download or read book Nonlinear Control of Fixed Wing UAVs with Time Varying and Unstructured Uncertainties written by Michail G. Michailidis and published by Springer Nature. This book was released on 2020-02-21 with total page 119 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces a comprehensive and mathematically rigorous controller design for families of nonlinear systems with time-varying parameters and unstructured uncertainties. Although the presented methodology is general, the specific family of systems considered is the latest, NextGen, unconventional fixed-wing unmanned aircraft with circulation control or morphing wings, or a combination of both. The approach considers various sources of model and parameter uncertainty, while the controller design depends not on a nominal plant model, but instead on a family of admissible plants. In contrast to existing controller designs that consider multiple models and multiple controllers, the proposed approach is based on the ‘one controller fits all models’ within the unstructured uncertainty interval. The book presents a modeling-based analysis and synthesis approach with additive uncertainty weighting functions for accurate realization of the candidate systems. This differs significantly from existing designs in that it is capable of handling time-varying characteristics. This research monograph is suitable for scientists, engineers, researchers and graduate students with a background in control system theory who are interested in complex engineering nonlinear systems.
Download or read book Fault Tolerant Cooperative Control of Unmanned Aerial Vehicles written by Ziquan Yu and published by Springer Nature. This book was released on 2023-12-06 with total page 226 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book focuses on the fault-tolerant cooperative control (FTCC) of multiple unmanned aerial vehicles (multi-UAVs). It provides systematic and comprehensive descriptions of FTCC issues in multi-UAVs concerning faults, external disturbances, strongly unknown nonlinearities, and input saturation. Further, it addresses FTCC design from longitudinal motions to attitude motions, and outer-loop position motions of multi-UAVs. The book’s detailed control schemes can be used to enhance the flight safety of multi-UAVs. As such, the book offers readers an in-depth understanding of UAV safety in cooperative/formation flight and corresponding design methods. The FTCC methods presented here can also provide guidelines for engineers to improve the safety of aerospace engineering systems. The book offers a valuable asset for scientists and researchers, aerospace engineers, control engineers, lecturers and teachers, and graduates and undergraduates in the system and control community, especially those working in the field of UAV cooperation and multi-agent systems.
Download or read book written by and published by . This book was released on 2011 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book UAV Cooperative Decision and Control written by Tal Shima and published by SIAM. This book was released on 2009-02-19 with total page 179 pages. Available in PDF, EPUB and Kindle. Book excerpt: An authoritative reference on cooperative decision and control of unmanned aerial vehicles.
Download or read book Bio inspired Computation in Unmanned Aerial Vehicles written by Haibin Duan and published by Springer Science & Business Media. This book was released on 2014-01-02 with total page 285 pages. Available in PDF, EPUB and Kindle. Book excerpt: Bio-inspired Computation in Unmanned Aerial Vehicles focuses on the aspects of path planning, formation control, heterogeneous cooperative control and vision-based surveillance and navigation in Unmanned Aerial Vehicles (UAVs) from the perspective of bio-inspired computation. It helps readers to gain a comprehensive understanding of control-related problems in UAVs, presenting the latest advances in bio-inspired computation. By combining bio-inspired computation and UAV control problems, key questions are explored in depth, and each piece is content-rich while remaining accessible. With abundant illustrations of simulation work, this book links theory, algorithms and implementation procedures, demonstrating the simulation results with graphics that are intuitive without sacrificing academic rigor. Further, it pays due attention to both the conceptual framework and the implementation procedures. The book offers a valuable resource for scientists, researchers and graduate students in the field of Control, Aerospace Technology and Astronautics, especially those interested in artificial intelligence and Unmanned Aerial Vehicles. Professor Haibin Duan and Dr. Pei Li, both work at Beihang University (formerly Beijing University of Aeronautics & Astronautics, BUAA). Prof Duan's academic website is: http://hbduan.buaa.edu.cn
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 Autonomous and Semi autonomous Control of Agile Fixed wing Unmanned Aerial Vehicles written by Juan Carlos Hernandez Ramirez and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Unmanned aerial vehicles (UAVs) have been increasingly employed for a wide range of civilian applications, including scientific and commercial endeavours. Striving for versatility, novel UAV designs have been proposed which incorporate features from different aircraft categories. The agile fixed-wing UAV is one such platform, which combines the fast andefficient flight of conventional fixed-wing aircraft with the highly maneuverable hovering capabilities of rotorcraft. These aircraft have enormous potential but are challenging to operate, demonstrating the need for control systems capable of harnessing their maneuvering capabilities. The objective of this thesis is to develop a comprehensive control strategy for the agile fixed-wing UAV, considering both autonomous, and pilot-assist, semi-autonomous operation. The thesis begins by introducing the fixed-wing UAV model, including previously developed aerodynamic and slipstream models needed for controller design and verification. Controllerdesign begins in the next chapter, where the core attitude control system is developed. We propose several geometric control strategies which are then evaluated through simulations and experiments. The next chapter presents a nonlinear control strategy to enable UAV velocity and position control. This is a unified control architecture, where a single controller is valid for steady and hover flight regimes. Rigorous stability analysis, together with simulations and experimental flights demonstrate the capabilities of the proposed system. The following chapter, we propose an additional control loop to enable path-following functionality, allowing us to prioritize the task of reaching and following spatial paths. As part of this system, a novel moving path frame is developed, specifically tailored for the task of motion control in three-dimensional space. Finally, a reference generator capable of translating limited pilot inputs into time-parametrized trajectories or spatial paths is developed. This system is then integrated with the control systems to achieve a semi-autonomous control solution. As demonstrated through experimental flights, the proposed system enables a human pilot to safely operate the aircraft inany regime without sacrificing its maneuverability"--
Download or read book Consensus based and Network Control of Fixed Wing Unmanned Aerial Vehicles written by Aldo Sergio Jaimes Betancourt and published by . This book was released on 2009 with total page 142 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Robust Discrete Time Flight Control of UAV with External Disturbances written by Shuyi Shao and published by . This book was released on 2021 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book studies selected discrete-time flight control schemes for fixed-wing unmanned aerial vehicle (UAV) systems in the presence of system uncertainties, external disturbances and input saturation. The main contributions of this book for UAV systems are as follows: (i) the proposed integer-order discrete-time control schemes are based on the designed discrete-time disturbance observers (DTDOs) and the neural network (NN); and (ii) the fractional-order discrete-time control schemes are developed by using the fractional-order calculus theory, the NN and the DTDOs. The book offers readers a good understanding of how to establish discrete-time tracking control schemes for fixed-wing UAV systems subject to system uncertainties, external wind disturbances and input saturation. It represents a valuable reference guide for academic research on uncertain UAV systems, and can also support advanced / Ph.D. studies on control theory and engineering. .
Download or read book Hybrid Modeling and Experimental Cooperative Control of Multiple Unmanned Aerial Vehicles written by and published by . This book was released on 2004 with total page 34 pages. Available in PDF, EPUB and Kindle. Book excerpt: Recent years have seen rapidly growing interest in the development of networks of multiple unmanned aerial vehicles (UAVs), as aerial sensor networks for the purpose of coordinated monitoring, surveillance, and rapid emergency response. This has triggered a great deal of research in higher levels of planning and control, including collaborative sensing and exploration, synchronized motion planning, and formation or cooperative control. In this paper, we describe our recently developed experimental testbed at the University of Pennsylvania, which consists of multiple, fixed-wing UAVs. We describe the system architecture, software and hardware components, and overall system integration. We then derive high-fidelity models that are validated with hardware-in-the-loop simulations and actual experiments. Our models are hybrid, capturing not only the physical dynamics of the aircraft, but also the mode switching logic that supervises lower level controllers. We conclude with a description of cooperative control experiments involving two fixed-wing UAVs.
Download or read book Control and Obstacle Avoidance for Agile Fixed wing Aircraft written by Eitan Bulka and published by . This book was released on 2021 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: "Unmanned aerial vehicles (UAVs) have been increasingly proposed for aerial surveillance, mapping, and delivery tasks. Historically these vehicles fall into two categories: conventional fixed-wing aircraft, which are capable of efficient flight over long distances but lack maneuverability, and rotorcraft, which are capable of agile and maneuverable flight but lack efficiency and endurance. Recent advancements in aerial vehicle design aim to incorporate characteristics from both rotorcraft and conventional fixed-wing aircraft, ultimately creating aircraft that are capable of both maneuverable and efficient long distance flight. These type of platforms are ideal for tasks that require both the ability to maneuver through cluttered environments, and the ability to fly long distances efficiently. An aircraft of this type, the agile fixed-wing aircraft, is a fixed-wing aircraft characterized by a high thrust-to-weight ratio (> 1), and large control surfaces capable of large deflections.The objective of this thesis is to further the autonomous capabilities of agile fixed-wing aircraft; specifically in the context of control systems and real-time collision avoidance. The thesis begins with a discussion of a previously developed flight dynamics model, and presents a method for validating a flight dynamics model in flight regimes that rely on feedback control. Subsequently, a single control architecture is developed that can track trajectories within both conventional and aerobatic flight regimes. This architecture is then extended to be applicable to many other types of vehicles, specifically vehicles which can generate a torque in an arbitrary direction, and can apply a single body-fixed force. We demonstrate autonomous aerobatic trajectories with an agile fixed-wing aircraft, specifically knife-edge, rolling harrier, aggressive turnaround and hovering maneuvers within conventional simulations, hardware-in-the-loop simulations, indoor flight tests and outdoor flight tests. We also validate the extension to other platforms by demonstrating flips with a quadrotor in both simulation and outdoor flight tests. All flights were performed with on-board sensing and computation.We then present a reactive obstacle avoidance algorithm that utilizes the maneuvering capabilities of agile fixed-wing aircraft and can be run in real-time with on-board sensing and computation. At each time step, trajectories are selected in real-time from a pre-computed library that lead to various positions on the edge of the obstacle sensor's field-of-view. A cost is assigned to each collision-free trajectory based on its heading toward the goal and minimum distance to obstacles, and the lowest cost trajectory is tracked. If all of the potential trajectories leading to the various positions at the edge of the obstacle sensor's field-of-view result in a collision, the aircraft has enough space to hover and come to a stop, which theoretically guarantees collision-free flight in unknown static environments. Autonomous flight in unknown and unstructured environments using only on-board sensing (stereo camera, IMU, and GPS) and computation is demonstrated with an agile fixed-wing aircraft in both simulation and outdoor flight tests. During the flight testing campaign, the aircraft autonomously flew 4.4 km in a tree-filled environment with an average speed of 8.1 m/s and a top speed of 14.4 m/s"--
Download or read book Wind Sensing and Rejection for Agile Fixed wing Unmanned Aerial Vehicles written by Jackson Empey and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Agile fixed-wing unmanned aerial vehicles (UAVs) are an emerging class of autonomous aircraft that combine the efficient distance flight of conventional fixed-wings with the maneuverability, and ability to hover, of multi-rotor platforms. These characteristics make agile fixed-wings compelling candidates for a wide variety of missions from search and rescue to surveillance. The remarkable maneuverability of these platforms is largely due to their low weight, and powerful thrusters, which drive reliable and fast slipstream airflow over the control surfaces, keeping them effective during low-speed flight.While their low weight is critical to the agility of this class of UAV, it also makes them highly susceptible to wind and can present challenges for precision flight outdoors. The objective of this thesis is to reject wind disturbances on agile fixed-wing platforms while minimizing any reductions to the performance of the agile fixed-wing.To achieve this objective, a modular, feedforward, wind rejection controller, relying on a wind estimate, was developed to improve the performance of existing agile fixed-wing controllers in outdoor environments. To provide a wind estimate to this controller while maintaining the platform's agility, only one additional sensor, an airspeed sensor placed near the platform's body is required. Since this sensor location is impacted by propeller slipstream, a model-based approach to removing slipstream flow from airspeed measurements is used as part of a larger wind estimation architecture. Simulations and experimental flights were conducted to validate both the feedforward controller and model-based slipstream removal"--
Download or read book Agile Flight Control Techniques for a Fixed wing Aircraft written by Frantisek Michal Sobolic and published by . This book was released on 2009 with total page 94 pages. Available in PDF, EPUB and Kindle. Book excerpt: As unmanned aerial vehicles (UAVs) become more involved in challenging mission objectives, the need for agility controlled flight becomes more of a necessity. The ability to navigate through constrained environments as well as quickly maneuver to each mission target is essential. Currently, individual vehicles are developed with a particular mission objective, whether it be persistent surveillance or fly-by reconnaissance. Fixed-wing vehicles with a high thrust-to-weight ratio are capable of performing maneuvers such as take-off or perch style landing and switch between hover and conventional flight modes. Agile flight controllers enable a single vehicle to achieve multiple mission objectives. By utilizing the knowledge of the flight dynamics through all flight regimes, nonlinear controllers can be developed that control the aircraft in a single design. This thesis develops a full six-degree-of-freedom model for a fixed-wing propeller-driven aircraft along with methods of control through non conventional flight regimes. In particular, these controllers focus on transitioning into and out of hover to level flight modes. This maneuver poses hardships for conventional linear control architectures because these flights involve regions of the post-stall regime, which is highly nonlinear due to separation of flow over the lifting surfaces. Using Lyapunov back stepping control stability theory as well as quaternion-based control methods, control strategies are developed that stabilize the aircraft through these flight regimes without the need to switch control schemes. The effectiveness of each control strategy is demonstrated in both simulation and flight experiments.
Download or read book Evolution of Control Programs for a Swarm of Autonomous Unmanned Aerial Vehicles written by Kevin M. Milam and published by . This book was released on 2004-03-01 with total page 134 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned aerial vehicles (UAVs) are rapidly becoming a critical military asset. In the future, advances in miniaturization are going to drive the development of insect size UAVs. New approaches to controlling these swarms are required. The goal of this research is to develop a controller to direct a swarm of UAVs in accomplishing a given mission. While previous efforts have largely been limited to a two-dimensional model, a three-dimensional model has been developed for this project. Models of UAV capabilities including sensors, actuators and communications are presented. Genetic programming uses the principles of Darwinian evolution to generate computer programs to solve problems. A genetic programming approach is used to evolve control programs for UAV swarms. Evolved controllers are compared with a hand-crafted solution using quantitative and qualitative methods. Visualization and statistical methods are used to analyze solutions. Results indicate that genetic programming is capable of producing effective solutions to multi-objective control problems.
Download or read book Guidance Control and Trajectory Tracking of Small Fixed Wing Unmanned Aerial Vehicles UAV s written by Amer A. Al-Radaideh and published by . This book was released on 2009 with total page 134 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Unmanned Aerial Vehicles (UAV's) have gained increasing considerations due to their low cost and increased autonomy. A large number of applications in the military and civilian fields. The present work considers a low level flight control algorithms (auto-pilot) to improve the guidance, path following and trajectory tracking capabilities of the low speed fixed wing AUS-UAV. In addition, this investigation aims the development and building of fully functioning test-bed UAV platform."--Abstract, p. iii.
Download or read book Sensor Fusion for Flight State Estimation of Fixed Wing Aerial Vehicles Design Implementation and Analysis written by Huang Peng and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:
