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Aircraft control system is designed to provide adequate stability during transition flight of a quad-tilt wing (QTW) UAV. The dynamic inversion method, which is a linearization method without an approximation algorithm, is applied to a control problem of the UAV, because of strong nonlinearity of its dynamical behavior. The validity of the proposed control system is verified through numerical simulation...
A robust control method is proposed for quadrotor systems. The designed controller is developed based upon the quaternion representation model, which is subject to multiple uncertainties. A feedback controller is proposed to restrain the effects of nonlinearities and uncertainties on the closed-loop system. These uncertainties are considered as input equivalent disturbances and their effects are proven...
In this work, design and control system development of a gas-electric hybrid quad tilt-rotor UAV with morphing wing are presented. The proposed aircraft has an all carbon-composite body, gas-electric hybrid electric generation system for 3 hours hovering or up to 10 hours of horizontal flight, a novel configuration for VTOL and airplane-like flights with minimized aerodynamic costs and mechanical...
This paper presents a new intelligent agent framework that combines rational decision making with abstractions of sensing and actions for unmanned aerial vehicle (UAV) control systems. The objective of the new framework is to provide self tuning and more adaptability to an onboard autopilot. This is achieved through controlloer switching and tuning by the agent in face of dynamic changes affecting...
This paper presents a Guidance, Navigation and Control (GNC) system for the autonomous landing of a Remotely Piloted Aircraft Helicopter (RPAS) in a GPS-denied scenario by using a tether in the landing. A new control and sensor fusion strategy has been designed for landing accurately by means of relative position and velocity commands. The system uses on-board the RPAS a device with a cardan joint...
This paper presents results of developing and operating a team of multiple unmanned aircraft system. It is a challenging task since the system complexity increases as the number of the unmanned aircraft increases. Given the autonomy of each vehicle in navigation, guidance, control, and vision-based missions, a system of multiple unmanned aircraft is constructed which is expected to be applied to complicated...
This paper considers the current state of liability law for UAVs and UASs. It discusses which party or parties may be liable for various types of incidents and considers how various factors in incidents may trigger complex disputes. The ambiguity as to responsibility, it is concluded, may result in a protracted litigation process and, thus, significant delays to compensation of an injured party. This...
There is a wide range of applications for unmanned aerial vehicles that requires the capability of having several and robust flight controllers available. This paper presents the main framework of a multi-mode flight control system for a quadrotor based on the super twisting control algorithm. The design stages for the four flight control modes encompassing manual, altitude, GPS fixed and autonomous...
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