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1
KUTPANOVA, Zarina A., Hakan TEMELTAS, and Serik A. KULMAMIROV. "Flight control and collision avoidance of three UAVs following each other." INCAS BULLETIN 14, no. 4 (December 2, 2022): 79–94. http://dx.doi.org/10.13111/2066-8201.2022.14.4.7.
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An unmanned aerial vehicle is a hardware and software complex with multi-purpose control. Unlike manned aviation, an unmanned aerial vehicle requires additional modules in its control system. These include the drone itself, the operator's workplace, software, data transmission lines and blocks necessary to fulfil the set flight objectives. The range of applications of unmanned aerial vehicles in the civil sector is not limited, but with the current state of the legal framework for the use of airspace, flight operations are somewhat difficult. The article formulates the main scientific position on the methodology of solving auxiliary tasks set in the work. The methodology specifies the main research stages, and it is a generalized methodological algorithm for the implementation of scientific research, which provides theoretical developments, field observations and simulation computer modelling. As a result of the study, it was found that the motion control systems of unmanned aerial vehicles are used for the process of their differentiation by the principle of complete external control, the advantages of which are considered in the work. For external control of divergence process of unmanned aerial vehicles, a method is considered for assessing the situation of convergence of unmanned aerial vehicles and choosing the manoeuvre of their difference using the area of dangerous courses, unmanned aerial vehicles approach, and it is possible to take into account the inertia of unmanned aerial vehicles when turning and the presence of navigational hazards that are in the manoeuvring area.
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Bdour, Jawad, and Belal H. Sababha. "A hybrid thrusting system for increasing the endurance time of multirotor unmanned aerial vehicles." International Journal of Advanced Robotic Systems 20, no. 3 (May 1, 2023): 172988062311723. http://dx.doi.org/10.1177/17298806231172335.
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One of the most significant disadvantages of electric multirotor unmanned aerial vehicles is their short flight time compared to fuel-powered unmanned aerial vehicles. This is mainly due to the low energy density of electric batteries. Fuel has much more energy density when compared to batteries. Electric-powered motors in multirotor unmanned aerial vehicles cannot be replaced with fuel-based engines because the stability and control of multirotor unmanned aerial vehicles rely on the high response rates of electric motors. One of the possible solutions to overcome this problem of short endurance times is by using hybrid thrusting systems that combine the advantages of both fuel and electrical propulsion systems, where high maneuverability and long endurance flight time could be achieved. In this work, hybrid thrusting and power systems for multirotor unmanned aerial vehicles are studied. Targeted hybrid thrusting systems consist of combustion engines, electric motors, and their power sources. Then a hybrid thrusting system-based quadrotor unmanned aerial vehicle model is developed. The article presents the altitude and attitude control systems of the developed hybrid thrusting system-based unmanned aerial vehicle. The presented hybrid quadcopter model comprises four electric motors and one fuel engine. The fuel engine used in this work is a 4.07 cc internal combustion engine targeting 2–3 kg unmanned aerial vehicles with up to 5 kg maximum takeoff weight. The developed hybrid quadrotor unmanned aerial vehicle achieved a 139% improvement in flight time when compared with traditional electric-based quadrotor unmanned aerial vehicles. The article also reports on other flight time-related issues such as the optimal fuel mass to battery size ratio to maximize the endurance time of the quadrotor unmanned aerial vehicles.
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Oktay, Tugrul, Harun Celik, and Ilke Turkmen. "Maximizing autonomous performance of fixed-wing unmanned aerial vehicle to reduce motion blur in taken images." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 232, no. 7 (March 28, 2018): 857–68. http://dx.doi.org/10.1177/0959651818765027.
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In this study, reducing motion blur in images taken by our unmanned aerial vehicle is investigated. Since shakes of unmanned aerial vehicle cause motion blur in taken images, autonomous performance of our unmanned aerial vehicle is maximized to prevent it from shakes. In order to maximize autonomous performance of unmanned aerial vehicle (i.e. to reduce motion blur), initially, camera mounted unmanned aerial vehicle dynamics are obtained. Then, optimum location of unmanned aerial vehicle camera is estimated by considering unmanned aerial vehicle dynamics and autopilot parameters. After improving unmanned aerial vehicle by optimum camera location, dynamics and controller parameters, it is called as improved autonomous controlled unmanned aerial vehicle. Also, unmanned aerial vehicle with camera fixed at the closest point to center of gravity is called as standard autonomous controlled unmanned aerial vehicle. Both improved autonomous controlled and standard autonomous controlled unmanned aerial vehicles are performed in real time flights, and approximately same trajectories are tracked. In order to compare performance of improved autonomous controlled and standard autonomous controlled unmanned aerial vehicles in reducing motion blur, a motion blur kernel model which is derived using recorded roll, pitch and yaw angles of unmanned aerial vehicle is improved. Finally, taken images are simulated to examine effect of unmanned aerial vehicle shakes. In comparison with standard autonomous controlled flight, important improvements on reducing motion blur are demonstrated by improved autonomous controlled unmanned aerial vehicle.
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Szabolcsi, Róbert. "Pole Placement Technique Applied in Unmanned Aerial Vehicles Automatic Flight Control Systems Design." Land Forces Academy Review 23, no. 1 (March 1, 2018): 88–98. http://dx.doi.org/10.2478/raft-2018-0011.
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Abstract Unmanned aerial vehicles are widely spread and intensively used ones both in governmental and in private applications. The standard arrangements of the commercial-off-the-shelves unmanned aerial vehicles sometimes neglect application of the automatic flight control system onboard. However, there are many initiatives to ensure autonomous flights of the unmanned aerial vehicles via pre-programmed flight paths. Moreover, automatic flight control system can ensure necessary level of the flight safety both in VFR and IFR flights. The aim of this study is to guide UAV users in set up commercial onboard autopilots available on the market. On the contrary, fitness of the autopilot to a given type of the air robot is not guaranteed, and, an extra load on users can appear in controller settings. The proposed pole placement technique is one of the proper methods eliminating difficulties, and, computer aided gain selection using MATLAB will be presented.
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Pereguda, O. M., A. V. Rodionov, and S. P. Samoilyk. "APPROACH TO INCREASING THE SURVIVABILITY OF CLASS I UNMANNED AERIAL VEHICLE IN EMERGENCY OPERATIONS." Проблеми створення, випробування, застосування та експлуатації складних інформаційних систем, no. 18 (December 30, 2020): 54–63. http://dx.doi.org/10.46972/2076-1546.2020.18.06.
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The article proposes an approach to increasing the survivability of class I unmanned aerial vehicles in emergency operations which involves development of an onboard information system for identifying emergency occasions in flight and the synthesis of a control action on the unmanned aircraft in case of hazardous factors influence. As the result of the analysis of the main trends in the development of unmanned aerial vehicles onboard control systems, it was found that the leading countries are paying significant attention to increasing their intellectualization level. This is necessary to ensure the fulfilment of complex tasks that are assigned to modern unmanned aerial vehicles in the military and civilian spheres. The main directions of such researches are identifying the problem of swarm application of unmanned aerial vehicles and expanding the capabilities of onboard control systems maintain automatically the values of certain parameters when the flight conditions changes. As the approach to increasing the survivability of a class I unmanned aerial vehicle, a vision of an onboard information system for identifying emergency occasions in flight and synthesis of control action is proposed, the functional purpose of its components is described. It is suggested that this system will be comprised of a subsystem for identifying emergency cases in flight and determining the class I unmanned aerial vehicle threat level and a subsystem for synthesizing control action. Governing documents and regulations for the state aviation of Ukraine determines the list of aircraft emergency occasions. Article mentions the necessity of detailing emergency occasions in flight, which are typical for class I unmanned aerial vehicles and an approach to their classification is proposed. A vision of the nearest partial scientific tasks and a list of expected scientific results of research in this direction are given.
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Chang, Bao Rong, Hsiu-Fen Tsai, Jyong-Lin Lyu, and Chien-Feng Huang. "Distributed sensing units deploying on group unmanned vehicles." International Journal of Distributed Sensor Networks 17, no. 7 (July 2021): 155014772110368. http://dx.doi.org/10.1177/15501477211036877.
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This study aims to use two unmanned vehicles (aerial vehicles and ground vehicles) to implement multi-machine cooperation to complete the assigned tasks quickly. Unmanned aerial/ground vehicles can call each other to send instant inquiry messages using the proposed cooperative communication protocol to hand over the tasks between them and execute efficient three-dimensional collaborative operations in time. This study has demonstrated integrating unmanned aerial/ground vehicles into a group through the control platform (i.e. App operation interface) that uses the Internet of Things. Therefore, pilots can make decisions and communicate through App for cooperative coordination, allowing a group of unmanned aerial/ground vehicles to complete the tasks flexibly. In addition, the payload attached to unmanned air/ground vehicles can carry out multipurpose monitoring that implements face recognition, gas detection, thermal imaging, and video recording. During the experiment of unmanned aerial vehicle, unmanned aerial vehicle will plan the flight path and record the movement trajectory with global positioning system when it is on duty. As a result, the accuracy of the planned flight path achieved 86.89% on average.
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Romaniuk, L., and I. Chykhira. "MECHANISM OF ENSURING SAFE UAV MOVEMENT UNDER THE CONDITIONS OF RADIO ATTACKS." Municipal economy of cities 4, no. 157 (September 25, 2020): 178–83. http://dx.doi.org/10.33042/2522-1809-2020-4-157-178-183.
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Purpose. The aim of the article is to reveal the mechanism of formation of safe UAV movement in the conditions of radio attacks. Methodology. Scientists from Ternopil National Technical University named after Ivan Pulyuy have consistently developed and studied several mechanisms for the formation of safe movement of unmanned aerial vehicles in radio attacks in order to create a perfect model with which to launch UAVs in areas with high radio attack. As a result of previous work, the mechanism of formation of safe movement of UAVs in the conditions of radio attacks based on methods of increasing the stability of providing information about the route of the unmanned aerial vehicle in the use of REP and air defense systems. Results. The article reveals the mechanism of formation of safe movement of unmanned aerial vehicle in the conditions of radio attacks. Analysis of known solutions in the field of increasing the stability of the control path of unmanned aerial vehicles and electronic suppression demonstrated the relevance of the problem of forming flight routes of unmanned aerial vehicles bypassing opposing enemy areas, taking into account the use of air defense and electronic warfare. The authors emphasize that most drone control tasks are now automated due to their high complexity and versatility. An automated control system operating under the control of a human operator is used as a control factor on an unmanned aircraft. It is emphasized that the main threats to unmanned aerial vehicles in modern conditions are the possibility of their destruction by air defense systems, as well as disruption of the radio communication and control system between the control center and the UAV by electronic suppression. The need for constant tracking of UAV flight by transmitting commands from the launcher is revealed. It is also emphasized the low level of automation of the onboard control system of the unmanned aerial vehicle and the inability to make adequate decisions on information received from onboard sensors in complex situations that require constant monitoring of UAV flight by a human operator. Scientific novelty. For the first time the functional scheme of the UAV recognition mechanism in the conditions of radio attacks is developed and the mechanism of formation of safe movement of the UAV in the conditions of radio attacks which is based on three basic techniques is defined. The first method is the method of clustering the flight zones of an unmanned aerial vehicle according to the degree of control stability. Based on the second method, the authors propose a method of forming the routes of UAV flights, taking into account the location of air defense and electronic warfare. The last link is the method of assessing the stability of providing information about the route of the unmanned aerial vehicle in terms of the use of air defense and electronic warfare. Practical relevance. The results of the work can be implemented in the process of forming the safe movement of UAVs in the conditions of radio attacks. Keywords: unmanned aerial vehicle; air traffic control; space; security; flight.
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Tang, Sarah, and Vijay Kumar. "Autonomous Flight." Annual Review of Control, Robotics, and Autonomous Systems 1, no. 1 (May 28, 2018): 29–52. http://dx.doi.org/10.1146/annurev-control-060117-105149.
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This review surveys the current state of the art in the development of unmanned aerial vehicles, focusing on algorithms for quadrotors. Tremendous progress has been made across both industry and academia, and full vehicle autonomy is now well within reach. We begin by presenting recent successes in control, estimation, and trajectory planning that have enabled agile, high-speed flight using low-cost onboard sensors. We then examine new research trends in learning and multirobot systems and conclude with a discussion of open challenges and directions for future research.
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Chen, Chao, Jiyang Zhang, Daibing Zhang, and Lincheng Shen. "Control and flight test of a tilt-rotor unmanned aerial vehicle." International Journal of Advanced Robotic Systems 14, no. 1 (January 1, 2017): 172988141667814. http://dx.doi.org/10.1177/1729881416678141.
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Tilt-rotor unmanned aerial vehicles have attracted increasing attention due to their ability to perform vertical take-off and landing and their high-speed cruising abilities, thereby presenting broad application prospects. Considering portability and applications in tasks characterized by constrained or small scope areas, this article presents a compact tricopter configuration tilt-rotor unmanned aerial vehicle with full modes of flight from the rotor mode to the fixed-wing mode and vice versa. The unique multiple modes make the tilt-rotor unmanned aerial vehicle a multi-input multi-output, non-affine, multi-channel cross coupling, and nonlinear system. Considering these characteristics, a control allocation method is designed to make the controller adaptive to the full modes of flight. To reduce the cost, the accurate dynamic model of the tilt-rotor unmanned aerial vehicle is not obtained, so a full-mode flight strategy is designed in view of this situation. An autonomous flight test was conducted, and the results indicate the satisfactory performance of the control allocation method and flight strategy.
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Wang, Bo Hang, Dao Bo Wang, Zain Anwar Ali, Bai Ting Ting, and Hao Wang. "An overview of various kinds of wind effects on unmanned aerial vehicle." Measurement and Control 52, no. 7-8 (May 13, 2019): 731–39. http://dx.doi.org/10.1177/0020294019847688.
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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.
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Adamski, Mirosław. "MODELLING OF THE UNMANNED AERIAL VEHICLES FLIGHT CONTROL SYSTEM." Aviation 25, no. 2 (August 17, 2021): 79–85. http://dx.doi.org/10.3846/aviation.2021.13391.
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The article is an independent work containing the author’s ingenious research methodology and the model of the control system of Unmanned Aerial Vehicles. Furthermore a unique and world first mathematical model of an Unmanned Aerial Vehicle was developed, as well as a simulation program which enabled to investigate the control system of any Unmanned Aerial Vehicles in the tilt duct pitch (altitude), bank (direction), deviation and velocity, depending upon the variable values of the steering coefficient, reinforcement coefficient and the derivative constant. The research program was written in the language of the C++ as the MFC class, on the MS Visual Studio 2010 platform. The main issue resolved in the article is the pioneering research of the process of control during manual and semi-automatic guidance of the Unmanned Aerial Vehicle, with a jet propulsion system to the coordinates of preset points of the flight route. Modelling of the flight control system takes into account: the logical network of operations of the simulation program, the pilot-operator model, the set motion and control deviations as well as the flight control laws. In addition, modeling of the control system takes into account the drive model, engine dynamics, engine thrust, the model of steering actuators and the model of external loads. In contrast, the external load model takes into account the external forces acting on the unmanned aircraft, including gravitational forces and moments, aerodynamic forces and moments, aerodynamic drag, aerodynamic lateral forces, aerodynamic lift forces, aerodynamic heeling moment, mechanism of local angle of attack from damping torque and forces and moments from the engine.
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Leško, Jakub, Rudolf Andoga, Róbert Bréda, Miriam Hlinková, and Ladislav Fözö. "FLIGHT PHASE CLASSIFICATION FOR SMALL UNMANNED AERIAL VEHICLES." Aviation 27, no. 2 (May 5, 2023): 75–85. http://dx.doi.org/10.3846/aviation.2023.18909.
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This article describes research on the classification of flight phases using a fuzzy inference system and an artificial neural network. The aim of the research was to identify a small set of input parameters that would ensure correct flight phase classification using a simple classifier, meaning a neural network with a low number of neurons and a fuzzy inference system with a small rule base. This was done to ensure that the created classifier could be implemented in control units with limited computational power in small affordable UAVs. The functionality of the designed system was validated by several experimental flights using a small fixed-wing UAV. To evaluate the validity of the proposed system, a set of special maneuvers was performed during test flights. It was found that even a simple feedforward artificial neural network could classify basic flight phases with very high accuracy and a limited set of three input parameters.
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Sarwar, Saeed ur Rehman, and Saeed ur Rehman. "Supervising Control for Unmanned Aerial Vehicles." Mathematical Problems in Engineering 2013 (2013): 1–9. http://dx.doi.org/10.1155/2013/564803.
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A small UAV is considered as a test UAV, and its already published aerodynamic data is used for its modeling. Proportional Integral Differential (PID) controller is designed for pitch attitude control. Atmospheric disturbances such as wind shear and turbulence significantly influence the attitude of UAVs. For this study rotary gust is considered as atmospheric disturbance. Pitch response in presence of atmospheric disturbance is presented. In order to improve the performance in presence of atmospheric disturbance, a supervisory mechanism is proposed. Supervisory mechanism is composed of two modules, “observer module” and “correction generator module.” The human thinking like logic is developed for observer module so that it keeps monitoring the status of flight through specified inputs and outputs from the system and instructs the correction generator module to augment main controller by adding compensation commands. Correction generator module works on fuzzy logic. Simulation results show significant reduction in pitch errors after augmenting the supervisory mechanism, hence proving the efficacy of proposed scheme.
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Hu, Xusheng, Juan Liu, and Rajesh Kocheril. "Design of Solar Endurance Control for Unmanned Aerial Vehicles based on Schmidt Trigger Control." Journal of Physics: Conference Series 2560, no. 1 (August 1, 2023): 012028. http://dx.doi.org/10.1088/1742-6596/2560/1/012028.
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Abstract In order to improve the endurance of unmanned aerial vehicles (UAVs), a power supply controller with automatic switching between solar energy and battery was designed. The controller is mainly composed of an AT89C51 single chip microcomputer. By collecting ambient light intensity and comparing it with the preset light intensity of the system, the controller completes automatic switching of the power supply for solar unmanned aerial vehicles, thereby achieving continuous and stable power supply for solar unmanned aerial vehicles. In addition, the implementation method of the single-chip microcomputer program in the controller is also introduced. The control core is to use Schmidt de shake control to switch between solar energy and battery, and to test the various functions of the controller through the flight experiment of a small solar powered unmanned aerial vehicle. Tests have found that solar powered drones using this controller can navigate for a long time in weather with varying light intensity, and the device operates well, effectively improving the power stability of solar powered drones.
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Zhai, Rui Yong, Wen Dong Zhang, Zhao Ying Zhou, Sheng Bo Sang, and Pei Wei Li. "Trajectory Tracking Control for Micro Unmanned Aerial Vehicles." Advanced Materials Research 798-799 (September 2013): 448–51. http://dx.doi.org/10.4028/www.scientific.net/amr.798-799.448.
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This article considers the problem of trajectory tracking control for a micro fixed-wing unmanned air vehicle (UAV). With Bank-to-Turn (BTT) method to manage lateral deviation control of UAV, this paper discusses the outer loop guidance system, which separates the vehicle guidance problems into lateral control loop and longitudinal control loop. Based on the kinematic model of the coordinated turning of UAV, the aircraft can track a pre-specified flight path with desired error range. Flight test results on a fixed-wing UAV have indicated that the trajectory tracking control law is quite effective.
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Ding, Jicheng, Kai Zou, and Junling Zhang. "A Combined Control Strategy for Fixed-Wing Unmanned Aerial Vehicles." Journal of Computational and Theoretical Nanoscience 13, no. 10 (October 1, 2016): 7199–211. http://dx.doi.org/10.1166/jctn.2016.5692.
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This study proposes a combined proportional–integral–derivative (PID) flight control strategy within a fixed-wing unmanned aerial vehicle (UAV). This type of UAV has high speed and high maneuverability. Considering relatively simple implementation, low computational effort, and intuitive operation, the classic PID controller is still popular but imperfect because of several well-known reasons. A number of practical and improved PID control methods, such as integral separation, anti-windup, and gearshift integral, are always used separately in many control fields. In this study, the combined PID flight control strategy is designed and applied to promote the classic PID control performance, along with the aforementioned methods, to fixed-wing UAV. The proposed approach adopts different controls depending on the deviation outputs and UAV physical limitations. The design flowchart and flight control loop are also presented. The combined PID flight control strategy can achieve a smaller overshoot and a shorter settling time than the conventional PID control. Comparable typical flight parameter tracking results (i.e., pitch, roll, altitude, and path angle) from principle simulation, hardware-in-the-loop simulation, and real flight experiment validate the efficacy and practicability of the combined PID flight control strategy.
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Xu, Guang Yan, and Yi Bo Shi. "Elastic Formation Keeping Control of Unmanned Aerial Vehicle Adapting to Flight Speed." Applied Mechanics and Materials 367 (August 2013): 411–16. http://dx.doi.org/10.4028/www.scientific.net/amm.367.411.
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For an Unmanned Aerial Vehicle (UAV) formation in leader-follower mode, considering the relative position relationship between neighbor vehicles in the formation, an elastic distance vector is proposed. The dynamic equations of a flight speed adaptive UAV formation are established using the elastic distance vector we proposed. The state feedback controller is designed. Simulation results show that the controller can be used to control the follower vehicles to follow the leader vehicle maneuvering effectively and keep the desired formation well, most importantly, the relative distance between neighbor vehicles in the formation is adapted to the changes of flight speed.
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Hu, Yanpeng, Yanping Yang, Xiaoping Ma, and Shu Li. "Computational optimal launching control for balloon-borne solar-powered unmanned aerial vehicles in near-space." Science Progress 103, no. 1 (September 30, 2019): 003685041987775. http://dx.doi.org/10.1177/0036850419877755.
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The near-space solar-powered unmanned aerial vehicle has broad prospects in application owing to its high altitude long-endurance performance. Launching solar-powered unmanned aerial vehicle into the near-space with balloon-borne approach has advantages over the traditional sliding take-off methods, in that it is able to quickly and safely cross the turbulent zone. In this article, we investigate the control technology of balloon-borne launching for the solar-powered unmanned aerial vehicles. First, the motion of the launching process is divided into longitudinal and lateral-directional motion, with the longitudinal process and its equation addressed in detail. We then analyze the flight state and restriction conditions that the unmanned aerial vehicle should meet during the process. Second, the target variables and constraints are selected to formulate the optimization problem. The control variable parameterization method is applied to find the optimal pitch angle in the releasing-and-pulling process. More explicitly, a three-channel attitude stabilization controller is designed, in which the longitudinal channel takes the optimal pitch angle as the pitch instruction, the transverse channel carries out the zero control of the inclination angle, and the course channel takes the stabilization control, respectively. Numerical simulation results show that our proposed control design is capable of accelerating the solar-powered unmanned aerial vehicles from the vertical state and pulling them up to the horizontal cruising flight state, with the flight angle of attack, the maximum speed, and the maximum axial acceleration in the pulling process all within the designed range.
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Ali, Shaaban, Osama Hassan, Anand Gopalakrishnan, Aboobacker Muriyan, and Sobers Francis. "Unmanned Aerial Vehicles: A Literature Review." Journal of Hunan University Natural Sciences 49, no. 7 (July 30, 2022): 96–113. http://dx.doi.org/10.55463/issn.1674-2974.49.7.11.
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In recent years, Unmanned Aerial Vehicles (UAVs) have grown and increased in applications because of computational simplicity and adaptive control capacity with strong support from both civilian and military sectors. The applications of UAVs in various military, commercial and civilian areas have led to sustainable results. The application areas include but are not limited to oil & gas, cargo transport, geographic mapping, aerial photography, health care, and disaster management. The success of the UAV application missions is completely dependent on the accuracy in control provided by the flight controllers. Thus, there is a need for accurate, robust, and adaptive flight controllers. UAV dynamics modeling and identification and control of these vehicles are still major active areas of research and development. They pose severe challenges due to the vehicle's complex design, inherently nonlinear, and time-varying dynamics. The main goal of this paper is to identify the past research trends and recent improvements in UAVs. Furthermore, this paper discusses a comprehensive literature review according to the optimized objectives, solution techniques, and applications of UAVs such as Cargo Transport, Disaster Management, etc. According to the literature review, aerial photography is one of the applications of smart UAVs. The reliability of image matching across multiple camera perspectives, angles, and positions encourages computer vision approaches for UAV navigation, opening the way for future researchers to develop vision applications. This article presents a comprehensive literature review discussing the importance of UAV applications related to cost-effectiveness and versatility. Furthermore, a detailed survey of system modeling identification and control techniques is presented.
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Alpert, Sofiia. "Main characteristics and perspectives of development of laser gyroscopes." Ukrainian journal of remote sensing 8, no. 1 (February 9, 2021): 4–9. http://dx.doi.org/10.36023/ujrs.2021.8.1.186.
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Nowadays unmanned aerial vehicles (drones) are applied for solution numerous remote sensing tasks. They give a new opportunites for conducting environmental monitoring and give images with a very high resolution. Unmanned aerial vehicles are applied for solution numerous agricultural problems. They give a detail picture of fields. Unmanned aerial vehicles are used to help increase crop production. With technology constantly improving, imaging of the crops will need to improve as well.Digital images obtained by unmanned aerial vehicles (drones) can be used in forestry, they are used for environmental monitoring, plant health assessment and analysis of natural disasters. Unmanned aerial vehicles are also used for mining, they are applied for mapping deposit sites, exploring for oil and gas, surveying mines.Laser gyroscope is an essential component of a drones flight control system. Laser gyroscopes provides orientation control of drone and essential navigation information to the central flight control systems. Laser gyroscopes provide navigation information to the flight controller, which make drones easier and safer to fly. Laser gyroscope is one of the most important components, allowing the drone to fly smooth even in strong winds. The smooth flight capabilities allows us to get images with high precision.Nowadays the main function of gyroscope technologies is to improve the unmanned aerial vehicles flight capabilities. It was described a structure and main characteristics of laser gyroscopes. It was noted, that laser gyroscope is operated on the principle of the Sagnac effect. Sagnac effect is a phenomenon encountered in interferometry that is elicited by rotation. It were described main advantages and disadvantages of laser gyroscopes. A comparative analysis of mechanical and laser gyroscopes was carried out too.It also was noted, that laser gyroscopes are applied in different areas, such as: inertial navigation systems, aircraft, ships, unmanned aerial vehicles (drones) and satellites. Nowadays laser technology is developed further. There are all prerequisites for improving the precision and other technical characteristics of laser gyroscopes.
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VOICU (STOICU), Serena Cristiana, and Adrian-Mihail STOICA. "Centralized and Distributed Linear Quadratic Design for Flight Formations." INCAS BULLETIN 13, no. 2 (June 4, 2021): 175–84. http://dx.doi.org/10.13111/2066-8201.2021.13.2.16.
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This paper focuses on the analysis of the particularities of control for multi-agent systems. The design method is based on an optimal control approach which requires the solution of Linear Quadratic Regulator problem (LQR). The characteristics of the two types of control (centralized and distributed) for unmanned aerial vehicles flight formations are highlighted by the case studies. The dynamics of an UAV (Unmanned Aerial Vehicle) is used for the longitudinal motion. The flight formation considered as a case study consists of four identical agents.
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Lee, Hyeon-Seung, Beom-Soo Shin, J. Alex Thomasson, Tianyi Wang, Zhao Zhang, and Xiongzhe Han. "Development of Multiple UAV Collaborative Driving Systems for Improving Field Phenotyping." Sensors 22, no. 4 (February 12, 2022): 1423. http://dx.doi.org/10.3390/s22041423.
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Unmanned aerial vehicle-based remote sensing technology has recently been widely applied to crop monitoring due to the rapid development of unmanned aerial vehicles, and these technologies have considerable potential in smart agriculture applications. Field phenotyping using remote sensing is mostly performed using unmanned aerial vehicles equipped with RGB cameras or multispectral cameras. For accurate field phenotyping for precision agriculture, images taken from multiple perspectives need to be simultaneously collected, and phenotypic measurement errors may occur due to the movement of the drone and plants during flight. In this study, to minimize measurement error and improve the digital surface model, we proposed a collaborative driving system that allows multiple UAVs to simultaneously acquire images from different viewpoints. An integrated navigation system based on MAVSDK is configured for the attitude control and position control of unmanned aerial vehicles. Based on the leader–follower-based swarm driving algorithm and a long-range wireless network system, the follower drone cooperates with the leader drone to maintain a constant speed, direction, and image overlap ratio, and to maintain a rank to improve their phenotyping. A collision avoidance algorithm was developed because different UAVs can collide due to external disturbance (wind) when driving in groups while maintaining a rank. To verify and optimize the flight algorithm developed in this study in a virtual environment, a GAZEBO-based simulation environment was established. Based on the algorithm that has been verified and optimized in the previous simulation environment, some unmanned aerial vehicles were flown in the same flight path in a real field, and the simulation and the real field were compared. As a result of the comparative experiment, the simulated flight accuracy (RMSE) was 0.36 m and the actual field flight accuracy was 0.46 m, showing flight accuracy like that of a commercial program.
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Ashokkumar, Chimpalthradi R., George WP York, and Scott F. Gruber. "Nonlinear cooperative UAV maneuvers in pitch plane." Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering 231, no. 9 (July 5, 2016): 1746–55. http://dx.doi.org/10.1177/0954410016656876.
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Flight formations of unmanned aerial vehicles may require coordinated motion in pitch for such tasks as terrain tracking. They maintain a constant altitude over varying terrain elevations and may assist collision avoidance where an altitude change is needed rather than a lateral change. In these maneuvers, controller ability to adjust relative altitude positions (as attractions and repulsions) of the aircraft subject to stability constraints that ends up in a formation shape should be demonstrated. The ascent and descent flight control mode combinations of each unmanned aerial vehicle participating in the formation generally offer the attractions and repulsions. In this paper, centralized and decentralized controller abilities to develop a cooperative formation with flight control modes made of transients and steady states are presented by using two and more than two homogenous unmanned aerial vehicles. A challenge in presenting such a formation by using a centralized controller is its design itself. Generally, eigenstructure properties depict flight control mode variations. That is, variations in closed-loop poles offered by a structurally varying centralized controller compatible to its reconfigurable communication patterns are sufficient to capture the flight control mode options. Hence, a procedure to design such a controller using real parameters is presented.
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Xin, Hongbo, Yujie Wang, Xianzhong Gao, Qingyang Chen, Bingjie Zhu, Jianfeng Wang, and Zhongxi Hou. "Modeling and control of a quadrotor tail-sitter unmanned aerial vehicles." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 236, no. 3 (October 6, 2021): 443–57. http://dx.doi.org/10.1177/09596518211050466.
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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.
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Kanat, Öztürk Özdemir, Ertuğrul Karatay, Oğuz Köse, and Tuğrul Oktay. "Combined active flow and flight control systems design for morphing unmanned aerial vehicles." Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering 233, no. 14 (May 2019): 5393–402. http://dx.doi.org/10.1177/0954410019846045.
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In this article, combined active flow control system and flight control system design for morphing unmanned aerial vehicles is applied for the first time for autonomous flight performance maximization. For this purpose, longitudinal and lateral dynamics modeling of morphing unmanned aerial vehicle having active flow control manufactured in Erciyes University, Faculty of Aeronautics and Astronautics, Model Aircraft Laboratory is considered in order to obtain simulation environments. Our produced morphing unmanned aerial vehicle is called as ZANKA-II, which has a mass of 6.5 kg, range of 30 km, endurance of 0.5 h, and ceiling altitude of 6000 m. von Karman turbulence modeling is used in order to model atmospheric turbulence during flight in both longitudinal and lateral simulation environments. A stochastic optimization method called as simultaneous perturbation stochastic approximation is also applied for the first time in order to obtain optimum dimensions of morphing parameters (i.e. extension ratios of wingspan and tail span), optimum positions of blowers, and optimum magnitudes of longitudinal and lateral controllers' gains (i.e. P, I, and D gains) while minimizing cost index capturing terms for both longitudinal and lateral autonomous flight performances and there exist lower and upper constraints on all optimization variables in the literature.
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Kurdel, Pavol, Marek Češkovič, Natália Gecejová, František Adamčík, and Mária Gamcová. "Local Control of Unmanned Air Vehicles in the Mountain Area." Drones 6, no. 2 (February 21, 2022): 54. http://dx.doi.org/10.3390/drones6020054.
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The task of increasing the accuracy and stabilization of the flight of unmanned aerial vehicles (UAV) in the alpine environment is a complex problem. It is related to the evaluation of UAV flight parameters and control conditions for the operator’s place. The purpose of the UAV’s autonomous flight control is to ensure stable control of the UAV’s flight parameters. Flight control systems are affected by various disturbances caused by both internal and external conditions. In general, the number of autonomous control systems corresponds to the number of degrees of freedom, which determines the flight of an autonomous vehicle. An important factor in assessing the quality of such a UAV is its readiness for an autonomous flight together with the level of its safe guidance on the route. The presented article focuses on the analysis of UAV flight control and the quality of prediction and elimination of errors that exist during maneuvers toward the place of a successful UAV landing. The aim of the article is to point out the solvability of the complexities of such a flight procedure with the evaluation of the readiness for the descent phase of the autonomous UAV. The given problem is caused by the social demand for the creation of a way of providing health care in the mountain area of the High Tatras in Slovakia. The existing database of data obtained from the flying vehicles used in Slovakia was compared with the data obtained from the simulated flights, with their subsequent evaluation in the MATLAB software (Version R2021b) environment.
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Liu, Duo-Neng, Zhong-Xi Hou, and Xian-Zhong Gao. "Flight modeling and simulation for dynamic soaring with small unmanned air vehicles." Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering 231, no. 4 (August 6, 2016): 589–605. http://dx.doi.org/10.1177/0954410016641440.
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The design of guidance and control strategies is a promising study trend of dynamic soaring for small unmanned aerial vehicles, for which the flight modeling and simulation specifically for soaring-capable unmanned aerial vehicles is significant and necessary. The aim of this paper is to propose a flight simulation platform for dynamic soaring. In order to do so, firstly, two different sets of equations of motion of small unmanned aerial vehicles have been derived and their characteristics are compared: one is expressed in body-fixed frame and the other in air-relative flight path frame. Secondly, the latter set is used for energy analysis to maximize energy gain while climbing and diving and minimize energy cost during turning in dynamic soaring. While the former serves to build the dynamic soaring simulation platform, in which a piecewise trajectory-based guidance and control strategy according to the energy analysis is proposed tracking the optimum climb and bank angles and traveling toward desired directions. Simulation results indicate that the unmanned aerial vehicles can perform dynamic soaring toward various directions in different wind fields, follow asymptotically the typical straight-line and circular-orbit paths by repeating soaring cycles.
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Ilienko, V., О. Cherednikov, S. Rudnichenko, M. Zhdanyuk, and М. Herashchenko. "CHART OF STATUS OF THE UNMANNED AVIATION COMPLEX." Наукові праці Державного науково-дослідного інституту випробувань і сертифікації озброєння та військової техніки 12, no. 3 (October 20, 2022): 34–42. http://dx.doi.org/10.37701/dndivsovt.13.2022.04.
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A scheme of interrelationships of external and internal macro- and microenvironmental factors and their influence on the states of the unmanned aerial vehicle system has been developed. It is proposed to use an approach with elements of graph theory and set theory to analyze the states of an unmanned aircraft complex. The given graph of the functioning of the man-machine system of a sample of the unmanned aircraft complex of the “micro UAS unmanned aircraft system” class sets the transitions that determine the closed cycle of the execution of a combat mission.
An example of building a structure of functional indicators of unmanned aerial vehicles with life cycle elements using graph theory for the analysis of “bottlenecks” in ensuring reliability is given. The analysis of “bottlenecks” in the control systems of unmanned aerial vehicles in the area of the ground control station – unmanned aerial vehicle is aimed at determining directions for increasing reliability, flight safety, increasing functionality, flight range and improving ergonomic characteristics.
A comprehensive analysis of the functioning and dynamics of changes in reliability indicators with relevant data for previous periods of operation will allow us to draw specific conclusions about the actual level of reliability of the UAS un manned aircraft system fleet and identify bottlenecks for further improvement and the possibility of transitioning to the use of third-generation BpAK (autonomous devices) with self-learning systems with artificial intelligence.
The theoretical rationale and the given practical recommendations should be taken into account when developing new prospective models of unmanned aerial vehicles for the Armed Forces of Ukraine in accordance with their official purpose.
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Zhao, Dong Liang, and Amir M. Anvar. "Modelling and Simulation of Maritime UAV-VTOL Robot Flight Control." Applied Mechanics and Materials 152-154 (January 2012): 1149–54. http://dx.doi.org/10.4028/www.scientific.net/amm.152-154.1149.
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The Vertical Take-off and Landing (VTOL) Maritime Unmanned Aerial Vehicle (MUAV) has a number of applications including surveillance, search & rescue and real-time communications within a maritime environment. The objectives of this work is to study, research, design and develop, up to implantation, methodologies to apply efficient Command, Control, Navigation and Avionics Scenarios for VTOL-UAV robot operations within maritime air environments. The purpose of this paper is to introduce the overall control system of a five-rotor MUAV and the theoretical analysis of the control system. The controller is derived from the Paparazzi system, which is an open source community hardware and software package for all forms of Unmanned Aerial Vehicles (UAVs).
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Mazhar, Naveed, Fahad Mumtaz Malik, Raja Amer Azim, Abid Raza, Rameez Khan, and Qasim Umar Khan. "Full-state modeling and nonlinear control of balloon supported unmanned aerial vehicle." Assembly Automation 42, no. 1 (November 18, 2021): 109–25. http://dx.doi.org/10.1108/aa-03-2021-0031.
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Purpose The purpose of this study is to provide the full-state mathematical model and devise a nonlinear controller for a balloon-supported unmanned aerial vehicle (BUAV). Design/methodology/approach Newtonian mechanics is used to establish the nonlinear mathematical model of the proposed vehicle assembly which incorporates the dynamics of both balloon and quadrotor UAV. A controllable form of the nine degrees of freedom model is derived. Backstepping control is designed for the proposed model and simulations are performed to assess the tracking performance of the proposed control. Findings The results show that the proposed methodology works well for smooth trajectories in presence of wind gusts. Moreover, the final mathematical model is affine and various nonlinear control techniques can be used in the future for improved system performance. Originality/value Multi-rotor unmanned aerial vehicles (MUAVs) are equipped with controllers but are constrained by smaller flight endurance and payload carrying capability. On the contrary, lighter than air (LTA) aerial vehicles have longer flight times but have poor control performance for outdoor operations. One of the solutions to achieve better flight endurance and payload carrying capability is to augment the LTA balloon to MUAV. The novelty of this research lies in full-order mathematical modeling along with transformation to controllable form for the BUAV assembly.
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Xuan-Mung, Nguyen, and Sung-Kyung Hong. "Improved Altitude Control Algorithm for Quadcopter Unmanned Aerial Vehicles." Applied Sciences 9, no. 10 (May 24, 2019): 2122. http://dx.doi.org/10.3390/app9102122.
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Quadcopter unmanned aerial vehicles continue to play important roles in several applications and the improvement of their control performance has been explored in a great number of studies. In this paper, we present an altitude control algorithm for quadcopters that consists of a combination of nonlinear and linear controllers. The smooth transition between the nonlinear and linear modes are guaranteed through controller gains that are obtained based on mathematical analysis. The proposed controller takes advantage and addresses some known shortcomings of the conventional proportional–integral–derivative control method. The algorithm is simple to implement, and we prove its stability through the Lyapunov theory. By prescribing certain flight conditions, we use numerical simulations to compare the control performance of our control method to that of a conventional proportional–derivative–integral approach. Furthermore, we use a DJI-F450 drone equipped with a laser ranging sensor as the experimental quadcopter platform to evaluate the performance of our new controller in real flight conditions. Numerical simulation and experimental results demonstrate the effectiveness of the proposed algorithm.
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Zhu, Bing-Jie, Zhong-Xi Hou, and Hua-Jiang Ouyang. "Trajectory optimization of unmanned aerial vehicle in dynamic soaring." Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering 231, no. 10 (August 28, 2016): 1779–93. http://dx.doi.org/10.1177/0954410016664912.
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An aircraft can extract energy from a gradient wind field by dynamic soaring. The paper presents trajectory optimization of an unmanned aerial vehicle for dynamic soaring by numerical analysis and validates the theoretical work through flight test. The collocation approach is used to convert the trajectory optimization problem into parameters optimization. The control and state parameters include lift coefficient, bank angle, positions, flight path angle, heading angle, and airspeed, which are obtained from the parameter optimization software. To validate the results of numerical simulation, the dynamic soaring experiment is also performed and experimental data are analyzed. This research work shows that the unmanned aerial vehicle can gain enough flight energy from the gradient wind field by following an optimal dynamic soaring trajectory. Meanwhile, the variation of flight path angle, heading angle, and airspeed has a significant influence on the energy transform. The solution can provide theoretical guide to unmanned aerial vehicles for extracting maximum energy from gradient wind fields.
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Yu. Babich, Mikhail, Mikhail M. Butaev, Dmitry V. Pashchenko, Alexey I. Martyshkin, and Dmitry A. Trokoz. "Simulation of quadcopter flight altitude stabilization system." Nexo Revista Científica 33, no. 02 (December 31, 2020): 638–50. http://dx.doi.org/10.5377/nexo.v33i02.10799.
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Recently, unmanned aerial vehicles have been an important part of scientific research in various fields. Quadrocopter is an unmanned aerial vehicle with four rotors, two of which rotate clockwise, the other two counterclockwise. Changing the speed of screw rotation allows you to control the movement of the apparatus. The article proposed and tested a mathematical model of a quadcopter. They presented the development of a simple control algorithm that allows to stabilize the height and angular position. The research results show the efficiency of the algorithm and the possibility of its practical implementation. The developed mathematical model can be used instead of a real quadcopter, which will significantly reduce the time during research, as well as avoid the quadrocopter damage, reducing the number of launches.
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Ćwiąkała, Paweł. "Testing Procedure of Unmanned Aerial Vehicles (UAVs) Trajectory in Automatic Missions." Applied Sciences 9, no. 17 (August 23, 2019): 3488. http://dx.doi.org/10.3390/app9173488.
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This paper describes an experimental test campaign while using an Unmanned Aerial Vehicle (UAV) and measuring the obtained UAV positions during different flight tasks and in different operative conditions. A new test procedure has been presented and tested for different devices in various weather conditions. This paper describes and analyses the measurements of the flight trajectory of the UAV that was performed with the use of a robotic total station (RTS), as compared to the design data and the data recorded in the internal memory of the UAV. Five different test tasks have been conducted. The obtained results have allowed for the assessment of the correctness of task performance as compared to the design and to determine the flying accuracy of the entire UAV set. The proposed set of tasks can be successfully utilised to control the correctness of operation of various types of UAVs and it may be implemented as a universal test to verify the algorithms optimising take-offs and landings, test flights of the objects, as well as flight planning in various terrain and weather conditions, which will increase the safety of the flights while using UAVs.
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Bielashov, Y. V. "The Unmanned Passenger Aerial Vehicles with Electric Propulsion in Ukraine – Perspectives of Employment." Business Inform 11, no. 514 (2020): 152–57. http://dx.doi.org/10.32983/2222-4459-2020-11-152-157.
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The article explores the issue of institutional provision for the employment of unmanned passenger aerial vehicles with electric propulsion (urban electric aerial vehicles) in Ukraine. The use of such vehicles is considered a promising direction in the development of urban air transport, able to unload traffic bottlenecks of the transport system in megacities. Among the main factors that favorably distinguish urban electric aerial vehicles from traditional air transport are: safety, economic efficiency, quietness, environmental friendliness and low requirements for related infrastructure. Preparations for large-scale use of urban electric aerial vehicles are currently being carried out in Germany, the USA, South Korea and the city of Dubai. The analysis of the advantages and possibilities of using urban electric aerial vehicles is provided; the history of development and the current status of this transport type is carried out. Despite the fact that the first samples of urban electric aerial vehicles are only being tested, there is already a significant competition in this market. Among the main developers of this class of aircraft one can single out the companies EHang (PRC) and Lilium GmbH (Germany). The article reviewes legislative requirements for the use of unmanned aerial vehicles with electric propulsion in certain countries of the world. Borrowing this experience can be useful for Ukraine due to the lack of terminological definition of such a class of vehicle in the natonal legislation; uncertainty of the conditions of their operation and safety measures; lacunas in the existing classification of unmanned aerial vehicles, which does not provide for the existence of programmable aerial vehicle, the control of which does not require a special control station located outside the vehicle, or vehicles that carry out programmable flight. In order to eliminate existing lacunas in Ukrainian legislation, measures have been developed, the implementation of which will allow the use of unmanned passenger aerial vehicles with electric propulsion and will contribute to the further development of air transport in Ukraine.
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Bielashov, Y. V. "The Unmanned Passenger Aerial Vehicles with Electric Propulsion in Ukraine – Perspectives of Employment." Business Inform 11, no. 514 (2020): 152–57. http://dx.doi.org/10.32983/2222-4459-2020-11-152-157.
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The article explores the issue of institutional provision for the employment of unmanned passenger aerial vehicles with electric propulsion (urban electric aerial vehicles) in Ukraine. The use of such vehicles is considered a promising direction in the development of urban air transport, able to unload traffic bottlenecks of the transport system in megacities. Among the main factors that favorably distinguish urban electric aerial vehicles from traditional air transport are: safety, economic efficiency, quietness, environmental friendliness and low requirements for related infrastructure. Preparations for large-scale use of urban electric aerial vehicles are currently being carried out in Germany, the USA, South Korea and the city of Dubai. The analysis of the advantages and possibilities of using urban electric aerial vehicles is provided; the history of development and the current status of this transport type is carried out. Despite the fact that the first samples of urban electric aerial vehicles are only being tested, there is already a significant competition in this market. Among the main developers of this class of aircraft one can single out the companies EHang (PRC) and Lilium GmbH (Germany). The article reviewes legislative requirements for the use of unmanned aerial vehicles with electric propulsion in certain countries of the world. Borrowing this experience can be useful for Ukraine due to the lack of terminological definition of such a class of vehicle in the natonal legislation; uncertainty of the conditions of their operation and safety measures; lacunas in the existing classification of unmanned aerial vehicles, which does not provide for the existence of programmable aerial vehicle, the control of which does not require a special control station located outside the vehicle, or vehicles that carry out programmable flight. In order to eliminate existing lacunas in Ukrainian legislation, measures have been developed, the implementation of which will allow the use of unmanned passenger aerial vehicles with electric propulsion and will contribute to the further development of air transport in Ukraine.
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Wang, Bo Hang, Dao Bo Wang, and Zain Anwar Ali. "A Cauchy mutant pigeon-inspired optimization–based multi-unmanned aerial vehicle path planning method." Measurement and Control 53, no. 1-2 (January 2020): 83–92. http://dx.doi.org/10.1177/0020294019885155.
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To improve the performance of multi-unmanned aerial vehicle path planning in plateau narrow area, a control strategy based on Cauchy mutant pigeon-inspired optimization algorithm is proposed in this article. The Cauchy mutation operator is chosen to improve the pigeon-inspired optimization algorithm by comparing and analyzing the changing trend of fitness function of the local optimum position and the global optimum position when dealing with unmanned aerial vehicle path planning problems. The plateau topography model and plateau wind field model are established. Furthermore, a variety of control constrains of unmanned aerial vehicles are summarized and modeled. By combining with relative positions and total flight duration, a cooperative path planning strategy for unmanned aerial vehicle group is put forward. Finally, the simulation results show that the proposed Cauchy mutant pigeon-inspired optimization method gives better robustness and cooperative path planning strategy which are effective and advanced as compared with traditional pigeon-inspired optimization algorithm.
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Ali, Syed Ussama, Raza Samar, M. Zamurad Shah, Aamer I. Bhatti, and Khalid Munawar. "Higher-order sliding mode based lateral guidance for unmanned aerial vehicles." Transactions of the Institute of Measurement and Control 39, no. 5 (December 23, 2015): 715–27. http://dx.doi.org/10.1177/0142331215619972.
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A nonlinear sliding mode based scheme is developed for lateral guidance of unmanned aerial vehicles. The guidance and control system is considered as an inner and outer loop design problem, the outer guidance loop generates commands for the inner control loop to follow. Control loop dynamics is considered during derivation of the guidance logic, along with saturation constraints on the guidance commands. A nonlinear sliding manifold is selected for guidance logic design, the guidance loop generates bank angle commands for the inner roll control loop to follow. The real twisting algorithm, a higher order sliding mode algorithm is used for guidance logic design. Existence of the sliding mode along with boundedness of the guidance command is proved to ensure that controls are not saturated for large track errors. The proposed logic also contains an element of anticipatory or feed-forward control, which enables tight tracking for sharply curving paths. Efficacy of the proposed method is verified by flight testing on a scaled YAK-54 unmanned aerial vehicle. Flight results demonstrate robustness and effectiveness of the proposed guidance scheme in the presence of disturbances.
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Szywalski, Patryk, and Andrzej Waindok. "Practical Aspects of Design and Testing Unmanned Aerial Vehicles." Acta Mechanica et Automatica 14, no. 1 (March 1, 2020): 50–58. http://dx.doi.org/10.2478/ama-2020-0008.
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AbstractA design of an unmanned aerial vehicle (UAV) construction, intended for autonomous flights in a group, was presented in this article. The design assumptions, practical implementation and results of the experiments were given. Some of the frame parts were made using 3D printing technology. It not only reduces the costs but also allows for better fitting of the covers to the electronics, which additionally protects them against shocks and dirt. The most difficult task was to develop the proper navigation system. Owing to high costs of precision positioning systems, common global positioning system (GPS) receivers were used. Their disadvantage is the floating position error. The original software was also described. It controls the device, allows performing autonomous flight along a pre-determined route, analyses all parameters of the drone and sends them in a real time to the operator. The tests of the system were carried out and presented in the article, as well.
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LYSENKO, S. "INTELLECTUALIZED CONTROL SYSTEM FOR UNMANNED AERIAL VEHICLE." Computer Systems and Information Technologies 1, no. 1 (September 2, 2020): 22–27. http://dx.doi.org/10.31891/csit-2020-1-3.
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The paper presents an intellectualized control system for unmanned aerial vehicles. It is based on the use of the fuzzy logic, implementation of which in the Controller of the unmanned aerial device allowed to track and control the trajectory of its movement. The experimental researches prove the efficiency of the device application of fuzzy logic for control of the drone in conditions of external influences implementation. To construct an intellectualized control system of unmanned aerial vehicles, their structure was considered. The base of the system is used for quadunmanned aerial vehicle, which includes four screws, located symmetrically around the central building. The peculiarity of the drone is that its adjacent screws must spin the opposite one from each other. This requirement is explained by the need to prevent system rotation around its own central axis. Depending on the required trajectory, an important aspect was the ability to set different values of the power of the drone engines. Despite the fact that the simplicity of its structure are characterized, they are able to implement a large set of motion models together with a demonstration of high maneuverability. It is reached the presence of six degrees of freedom, which consist of three progressive and three rotating components to set the trajectory of a movement. In order to solve this problem, it was possible to solve the apparatus of fuzzy logic as the basis of the mathematical model of the system. This allowed to ensure a vague logical control of the fog, and, in turn, intellectualize the behavior of drone in the air in the conditions of external influences on the change of a predetermined trajectory of its movement. At the heart of the Intellectualized unmanned Aerial vehicle control system, two fuzzy controllers were involved in the production of control signals for the command of a UAV flight height and an angle of inclination.
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Uche, U. E., and S. T. Audu. "UAV for Agrochemical Application: A Review." Nigerian Journal of Technology 40, no. 5 (May 13, 2022): 795–809. http://dx.doi.org/10.4314/njt.v40i5.5.
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Unmanned aerial vehicles (UAVs) are tools for mechanized agriculture: they are used to alleviate maladies in a variety of fields through commercial, scientific, agricultural, and infrastructure enhancement. The purpose of the paper is to illuminate knowledge on mechanized agriculture using unmanned aircraft systems for pesticides and fertilizer application in obstacle rich farm. Various journal papers were reviewed to ascertain the state-of-the-art in agricultural unmanned aerial vehicles. X-rayed are unmanned aerial vehicle agrochemicals spraying architecture and efficacy, deployment and control strategies, obstacle sensing and avoidance systems, development/studies, and the limitations of the technology. The review shows that great strides have been made to develop agricultural unmanned aerial vehicles that can autonomously identify obstacle type, realize desired avoidance actions, and carry out variable rate agrochemical application. It is however noted that studies should continue on developing protocols and standard operation procedure, more human friendly interface platform, power technology, higher payload, real time quality imagery and robust mechanical features as well as enhanced sense and avoidance technology to meet the requirement of agricultural unmanned aerial vehicle for real time autonomous actions, flight endurance, low speed and low altitude. The paper therefore addressed the lack of awareness and absence of dedicated education on precision agriculture in the farming sector that has since ensured that its adoption level as a preferred system of farming remains very low in Nigeria despite the many benefits of unmanned aircraft vehicle farming technology
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Cieśluk, Jakub, Zdzisław Gosiewski, Leszek Ambroziak, and Sławomir Romaniuk. "Computationaly Simple Obstacle Avoidance Control Law for Small Unmanned Aerial Vehicles." Acta Mechanica et Automatica 9, no. 1 (March 1, 2015): 50–56. http://dx.doi.org/10.1515/ama-2015-0010.
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Abstract The investigations of the system which allow to avoid obstacles by the unmanned aerial vehicles (UAV) are presented in the paper. The system is designed to enable the full autonomous UAV flight in an unknown environment. As an information source about obstacles digital camera was used. Developed algorithm uses the existing relations between the imaging system and the parameters read from the UAV autopilot. Synthesis of the proposed obstacle avoidance control law was oriented for computational simplicity. Presented algorithm was checked during simulation studies and in-flight tests.
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Samar, R., M. Zamurad Shah, and M. Nzar. "Lateral Control Implementation for an Unmanned Aerial Vehicle." ISRN Aerospace Engineering 2013 (June 11, 2013): 1–14. http://dx.doi.org/10.1155/2013/905865.
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This paper presents practical aspects of guidance and control design for UAV and its flight test results. The paper focuses on the lateral-directional control and guidance aspects. An introduction to the mission and guidance problem is given first. Waypoints for straight and turning flight paths are defined. Computation of various flight path parameters is discussed, including formulae for real-time calculation of down-range (distance travelled along the desired track), cross-track deviation, and heading error of the vehicle; these are then used in the lateral guidance algorithm. The same section also describes how to make various mission-related decisions online during flight, such as when to start turning and when a waypoint is achieved. The lateral guidance law is then presented, followed by the design of a robust multivariable H∞ controller for roll control and stability augmentation. The controller uses the ailerons and rudder for control of roll angle and stabilization of yaw rate of the vehicle. The reference roll angle is generated by the nonlinear guidance law. The sensors available on-board the vehicle do not measure yaw rate; hence, a practical method of its estimation is proposed. The entire guidance and control scheme is implemented on the flight control computer of the actual aerial vehicle and taken to flight. Flight test results for different mission profiles are presented and discussed.
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Rao, Jin Jun, Tong Yue Gao, Zhen Jiang, and Zhen Bang Gong. "Flight Control System Onboard Embedded Software for Small Unmanned Aerial Vehicles." Applied Mechanics and Materials 20-23 (January 2010): 1528–33. http://dx.doi.org/10.4028/www.scientific.net/amm.20-23.1528.
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The onboard software of the flight control system (FCS) plays important role for small unmanned aerial vehicles’ performance. In this paper, the characteristics difficulties of the FCS software are analyzed firstly, then the compositions of the software are introduced using HIPO method. A genetic architecture of onboard software is presented to coordinate and organize the software and function modules, and an unique task scheduling strategy is designed and applied to realize multi-task processing. Finally, on the basis of the elementary operation procedure of the software, the flight experiment is implemented, and the feasibility and reliability of the onboard software is validated.
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Pan, Ji Hui, Xiao Lin Zhang, Sheng Bing Zhang, and Hao Ma. "New Fault-Tolerant Scheme for Flight Control System of Unmanned Aerial Vehicles." Applied Mechanics and Materials 284-287 (January 2013): 1883–87. http://dx.doi.org/10.4028/www.scientific.net/amm.284-287.1883.
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In complex systems like flight control systems etc., reliability is as important as performance. In order to improve the reliability of flight control system (FCS), the fault- tolerant technique was adopted. Three parts of the FCS which are Flight Control Fault Tolerant Computer, Redundancy sensor and Servo-actuator have been explored. The key techniques have been solved, such as Redundant Disposition, Synchronism of the Redundant Channels, Data link and Communication of Channels, etc. The experimental results show that the system meets with the fly control system’s demand of reliability.
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Andrade, Fabio A. A., Ihannah P. Guedes, Guilherme F. Carvalho, Alessandro R. L. Zachi, Diego B. Haddad, Luciana F. Almeida, Aurélio G. de Melo, and Milena F. Pinto. "Unmanned Aerial Vehicles Motion Control with Fuzzy Tuning of Cascaded-PID Gains." Machines 10, no. 1 (December 23, 2021): 12. http://dx.doi.org/10.3390/machines10010012.
Full textAbstract:
One of the main challenges of maneuvering an Unmanned Aerial Vehicle (UAV) to keep a stabilized flight is dealing with its fast and highly coupled nonlinear dynamics. There are several solutions in the literature, but most of them require fine-tuning of the parameters. In order to avoid the exhaustive tuning procedures, this work employs a Fuzzy Logic strategy for online tuning of the PID gains of the UAV motion controller. A Cascaded-PID scheme is proposed, in which velocity commands are calculated and sent to the flight control unit from a given target desired position (waypoint). Therefore, the flight control unit is responsible for the lower control loop. The main advantage of the proposed method is that it can be applied to any UAV without the need of its formal mathematical model. Robot Operating System (ROS) is used to integrate the proposed system and the flight control unit. The solution was evaluated through flight tests and simulations, which were conducted using Unreal Engine 4 with the Microsoft AirSim plugin. In the simulations, the proposed method is compared with the traditional Ziegler-Nichols tuning method, another Fuzzy Logic approach, and the ArduPilot built-in PID controller. The simulation results show that the proposed method, compared to the ArduPilot controller, drives the UAV to reach the desired setpoint faster. When compared to Ziegler-Nichols and another different Fuzzy Logic approach, the proposed method demonstrates to provide a faster accommodation and yield smaller errors amplitudes.
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A, Kaviyarasu, Saravanakumar A, and Rajesh G. "HILS based Waypoint Simulation for Fixed Wing Unmanned Aerial Vehicle (UAV)." Defence Science Journal 72, no. 5 (November 1, 2022): 687–94. http://dx.doi.org/10.14429/dsj.72.17952.
Full textAbstract:
Hardware in loop simulation HILS-based waypoint simulation for fixed wing unmanned aerial vehicles is proposed in this paper. It uses an open-source arducopter as a flight controller, mission planner, and X-plane simulator. Waypoint simulation is carried out in the flight controller and executed in an X-plane simulator through a mission planner. A fixed wing unmanned aerial vehicle with an inverted T tail configuration has been chosen to study and validate waypoint flight control algorithms. The data transmission between mission planner and flight controller is done by serial protocol, whereas data exchange between X-plane and mission planner is done by User Datagram Protocol (UDP). APM mission planner is used as a machine interface to exchange data between the flight controller and the user. User inputs and flight gain parameters, both inner loop and outer loop, can be modified with the help of a mission planner. In addition to that, the mission planner provides a visual output representation of flight data and navigation algorithm.
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Liu, Cunjia, and Wen-Hua Chen. "Disturbance Rejection Flight Control for Small Fixed-Wing Unmanned Aerial Vehicles." Journal of Guidance, Control, and Dynamics 39, no. 12 (December 2016): 2810–19. http://dx.doi.org/10.2514/1.g001958.
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Lin, Lishan, Yuji Yang, Hui Cheng, and Xuechen Chen. "Autonomous Vision-Based Aerial Grasping for Rotorcraft Unmanned Aerial Vehicles." Sensors 19, no. 15 (August 3, 2019): 3410. http://dx.doi.org/10.3390/s19153410.
Full textAbstract:
Autonomous vision-based aerial grasping is an essential and challenging task for aerial manipulation missions. In this paper, we propose a vision-based aerial grasping system for a Rotorcraft Unmanned Aerial Vehicle (UAV) to grasp a target object. The UAV system is equipped with a monocular camera, a 3-DOF robotic arm with a gripper and a Jetson TK1 computer. Efficient and reliable visual detectors and control laws are crucial for autonomous aerial grasping using limited onboard sensing and computational capabilities. To detect and track the target object in real time, an efficient proposal algorithm is presented to reliably estimate the region of interest (ROI), then a correlation filter-based classifier is developed to track the detected object. Moreover, a support vector regression (SVR)-based grasping position detector is proposed to improve the grasp success rate with high computational efficiency. Using the estimated grasping position and the UAV?Äôs states, novel control laws of the UAV and the robotic arm are proposed to perform aerial grasping. Extensive simulations and outdoor flight experiments have been implemented. The experimental results illustrate that the proposed vision-based aerial grasping system can autonomously and reliably grasp the target object while working entirely onboard.
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Ferrei̇ra, Diogo, Paulo Oliveira, and Afzal Suleman. "A Leader-Follower Trajectory Tracking Controller for Multi-Quadrotor Formation Flight." Volume 03 Issue 01 vm03, is01 (June 28, 2022): 13–20. http://dx.doi.org/10.23890/ijast.vm03is01.0102.
Full textAbstract:
The aim of this work is to design a control system based on modern control methods to control flight formations of quadrotor unmanned aerial vehicles. A leader-follower methodology is implemented where the leader vehicle has some predefined trajectory, and the follower vehicles are controlled in order to track the leader while keeping a constant displacement. The formation control system, responsible for the vehicle formation, considers, at first, only the motion at a constant height, and secondly, the three-dimensional motion. In both cases, the nonlinear control laws are derived based on Lyapunov stability theory and the Backstepping method. The control laws are validated in simulation, resorting to a realistic environment and vehicle models.