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This paper presents the design of an adaptive augmentation for cascaded outer-loop path and inner-loop acceleration tracking controllers. The adaptive augmentation is based on a nonlinear design plant and uses model reference adaptive control (MRAC). The outer-loop position controller is a nonlinear model predictive controller (NMPC) with velocity adjustment which incorporates the states and control...
In this paper, Fault Diagnosis and Fault Tolerant Control algorithms are proposed to compensate for a bias type sensor fault applied on the quadrotor vehicle. A novel output estimator design called intelligent Output-Estimator (iOE) is introduced to detect and isolate the sensor fault. The estimation of the fault magnitude is done through a proposed structured algorithm that senses the maximum error...
In this paper, the hybrid fuzzy-PID controller for a coaxial rotor helicopter is developed as a supplement to the conventional PID controller. The coaxial rotor helicopter uses one motor and two swash plates linked to each other. The helicopter system is modeled by nonlinear dynamics. The PID control system works well with a moderate velocity change. However, it provides unsatisfactory performance...
From the beginning of 21th century, the quantities and types of Unmanned Aerial Systems (UAS) have grown enormously and they become to boost substitution for the manned systems. UAS are creating advancement with a massive potential to change military operations and also enabling the new civilian applications. The vital issue for the airspace designers and managers is how to integrate manned and unmanned...
This paper outlines a method of applying a linear disturbance observer to a small Unmanned Aerial System (UAS) to reduce the influence of unpredictable gusts on the non-linear aircraft dynamics. This work aims to show that by using a linear state-space model it is possible to estimate external disturbances and use the available control surfaces to alleviate the influence of gusts on aircraft dynamics...
This paper presents the modeling, the design of control laws, for Euler angles and altitude, and their implementation. The proposed controller is based on the backstepping procedure and uses a state feedback linearizing technique to guarantee tracking of the desired Euler angles and altitude on the ornithopter. The provided controller provides exponential convergence to the desired values. Numerical...
Ship-based Unmanned Aerial Vehicle (UAV) operations represent an important field of research which enables a large variety of mission types. Most of these operations demand a high level of endurance which normally requires the use of a fixed-wing UAV. Traditionally, a net located on the ship deck is used for recovering the fixed-wing UAV. However, there are numerous challenges when attempting autonomous...
Most localization approaches do not take into account the possibility of controlling the robot to improve the perception, instead, the robot is just commanded with a predefined path. Active sensing strategies may lead to more efficient exploration and mapping approaches. The robot can adapt its trajectory, avoiding for instance non-observable motions or following those paths which are most informative...
Modern navies perform various missions such as maritime security, maritime interdiction, and counter piracy operations in addition to their traditional wartime duties. However, most warships are not built flexible enough to conduct these tasks. Unmanned Aircraft Systems (UAS) increase the flexibility of the warships and enhance mission success. The capabilities of the UAS determine how effective the...
The present paper is focused on analysing an integrated reconfigurable control and guidance approach for recovering a small fixed-wing UAV from different actuator faults, which cover locked in place (stuck) and loss of effectiveness. The model of the UAV Aerosonde is used to develop a reconfigurable control system based on the control allocation technique for a variety of faults, such as locked-in-place...
In light of recent U.S. Federal Aviation Administration (FAA) notices, there is a surge in the research and development of the ‘micro’ class sUAS for commercial purposes. Natural gas production and distribution companies in particular are making an effort to develop aerial leak detection methods with sUAS. These efforts require a comprehensive evaluation of sUAS capabilities and the environmental...
This paper investigates fault-tolerant cooperative control (FTCC) strategy for a team of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) in the presence of actuator faults. When actuator faults occur in one or more of the UGVs, two cases are considered: 1) the faulty UGV cannot complete its assigned task due to a severe fault occurrence, it has to get out from the formation mission...
This paper proposes a control structure for a heterogeneous leader-follower formation involving an unmanned ground vehicle (UGV) — the leader, and an unmanned aerial vehicle (UAV) — the follower, based on their kinematic models. The control architecture is a centralized one, in which it is possible to get the robots sensory data and to synthesize and deliver the control signals necessary to establish...
Due to their rapid maneuverability and improved personnel safety, unmanned aerial vehicles (UAVs) with vision-based systems have great potential for monitoring and detecting forest fires. In this paper, a novel forest fire detection method utilizing both color and motion features is described for UAV-based forest firefighting applications. First, a color decision rule is designed to extract fire-colored...
Insulator identification in aerial videos is one of the key procedures to the condition analysis for aerial power line inspections. This paper proposes a novel insulator recognition method for images taken by Unmanned Aerial Vehicles (UAVs) with highly cluttered background, which is to adopt a machine learning algorithm Support Vector Machine (SVM) as a classifier to distinguish insulator from the...
A decentralized controller for target tracking and obstacle avoidance for a multi-agent system is proposed. The controller is based on a navigation function which is composed of a goal function, as the D-optimality criterion of the Fisher information matrix, and a constraint function, which generates repulsive force to the agents near the obstacle. The multi-agent system is modeled as a graph and...
A system of networked computer components is described allowing realistic simulation and performance assessment of see-and-avoid algorithms for unmanned aircraft systems (UAS). Due to its realistic physics engine and relatively open architecture, the X-Plane flight simulator is adopted to simulate computer-generated traffic or an aircraft controlled by a human pilot. Using the UDP interface in X-Plane,...
A small group of Unmanned Aerial Vehicles (UAV), each equipped with a communications payload, offers a possible means of providing broadband services over disaster regions. The UAVs are power limited so the number of mobile sub-scribers that can be supported by each UAV depends on its proximity to clusters of mobiles. One way of maximising the total number of mobiles supported within the available...
There is strong interest in Micro Aerial Vehicle (MAV) control architectures which are able to systematically respect physical limitations of the plant. Nonlinear Model Predictive Control (NMPC) inherits the required constraint handling abilities and is easy to reconfigure in case of plant degradation. This work presents a promising cascaded control architecture for multirotors for the task to follow...
Micro aerial vehicles, such as multirotors, are particularly well suited for autonomous monitoring, inspection, and surveillance, e.g., for doing inventory in large warehouses. Key prerequisites for efficient MAV inventory missions is time- and energy-efficient flight. Generated trajectories must assure the visiting of certain waypoints while preventing large deviations or overshoot, as these can...
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