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In this paper, a deep learning network is investigated to detect moving targets for a UAV equipped with monocular camera. An algorithm based on fully convolutional network is proposed to obtain the position and moving direction of targets. A Kalman filter is incorporated into the proposed algorithm to increase the accuracy of target position information acquisition. The experimental results show the...
The tail-sitter unmanned aerial vehicle (UAV) is a kind of vertical take-off and landing (VTOL) UAV which has the merits of both fixed-wing and rotary-wing. The tail-sitter UAV in this paper has three flight modes. The most important stage is the transition stage. The model for the transition stage is established and a transition flight strategy is constructed so that the UAV can change vertical takeoff...
Distributed formation control of Unmanned Aerial Vehicle (UAV) in three-dimensional space is discussed in this paper. In order to achieve a faster consensus seeking, a consensus-based cooperative formation control strategy with the tow-hop relay protocol is proposed. UAV's nonlinear kinetic model is transformed into linear model by feedback linearization and the original control inputs are also transformed...
In this paper, a robust trajectory tracking control for the underactuated quadrotor unmanned aerial vehicle (UAV) based on extended state observer(ESO) is proposed. In the presence of external disturbances and inner model parameter uncertainty, it guaranteed that the position and yaw angle could track the reference signal speedily and smoothly. According to the strict feedback architecture of the...
In this paper, it is discussed the modeling problem of a rotor/fixed-wing hybrid unmanned aerial vehicle (UAV). The vehicle has two main advantage functions, i.e., fixed-wing cruise and vertical take-off and landing (VTOL). This paper focuses on analysis of the transition process for the rotor/fixed-wing hybrid UAV, which consists of four stages. Based on the six degree of freedom model, the modeling...
As Unmanned Aerial Vehicle (UAV) having been applied in more complex and adverse environments, the requirements of automatic techniques for obstacle avoidance are becoming more and more important. Reinforcement learning (RL) is a well-known technique in the domain of Machine Learning (ML), which interacts with the environment and learning the knowledge without the requirement of massive priori training...
Further research based on the author's past work in [1] is performed in this paper. A structural robust gain-scheduled (GS) PID control method is proposed and applied to control the pitch angle for a morphing wing UAV(MUAV) in its transient process. Firstly, the author gives the robust static output feedback (SOF) control method for LPV system and shows that PID control is equivalent to SOF control,...
The lateral guidance objective is to derive the cross track error towards zero with graceful and stable maneuvers and then to keep it as minimum as possible. A nonlinear sliding surface based lateral guidance scheme is proposed here for Unmanned Aerial Vehicles (UAVs) application with limited actuation. Following the inner (control) and outer (guidance) loop structure, the proposed guidance scheme...
In this paper, a fuzzy tracking control strategy for a quad-rotor unmanned aerial vehicle (UAV) with strongly coupling is put forward based on the Takagi-Sugeno(T — S) fuzzy error model. Firstly, The quad-rotor system is divided into altitude subsystem, position subsystem and attitude subsystem, selecting appropriate premise variables, the attitude, altitude and position T — S fuzzy error models are...
The novel backstepping control schemes are proposed to deal with the formation control problem of multiple unmanned aerial vehicles (UAVs) with input saturation constraint and model uncertainty. The trajectory tracking error model of the multiple UAVs formation is established. Then the standard ideal backstepping formation controller, which is applied to address the case with certain model and no...
Fixed-wing unmanned aerial vehicle (UAV) should be under control in the presence of model uncertainty and external disturbance, which is considered as torque perturbation in this paper. Such a challenge imposes tight requirements to the enhanced robustness and accuracy of the vehicle autopilot. The key of this paper is to introduce the model of attitude dynamics and propose a novel finite-time observer-based...
Aiming at the single unmanned aerial vehicle (UAV) can't finish the task which lasts longer than UAV's maximum cruising duration due to limited battery or fuel. First, a multi-UAV system supported by geographically distributed automatic depots is presented, which can accomplish the long-term or uninterrupted task. Then the mixed integer linear programming model is proposed to formalize the scheduling...
This paper presents a new structure of multicopter with its propellers installed in three different directions. The aim is to achieve complete independent control of position and attitude of the multicopter. This can allow us to control the position with its desired attitude controlled simultaneously. As such, this new multicopter can hover at any fixed point with its attitude changed freely. This...
In this paper, a novel thrust vectored 3D printed multicopter is designed and built. The dynamic equation of the multicopter with n propellers where n ≥ 2 is derived. Conditions for effective thrust vectoring is established. A robust control scheme for the multicopter system, based on the multi-surface sliding control is proposed. We prove that the proposed control scheme guarantees asymptotic output...
This paper presents a fault tolerant control strategy to deal with the rear servo's stuck fault of tri-rotor unmanned aerial vehicle (UAV). An adaptive sliding mode based observer is utilized to estimate the rear servo's stuck fault which is unknown, and a feedback linearization based controller is designed to compensate for the rear servo's fault. To avoid the singularity associated with orientation...
This paper presents a novel guidance algorithm for UAVs to follow a 2-D ground track by controlling the lateral cross track deviations. The guidance framework based on sliding mode theory is presented to solve the two dimensional path-following problem. To control the lateral track error of the vehicle during flight, the guidance algorithm generates reference bank angle commands for the vehicle control...
The tilt tri-rotor UAV which combines the advantages of both rotary wing and fixed wing vehicle, offers the capability of hover, vertical take-off and landing and fast forward movement. Because of the complex structure and aerodynamics, the modeling and control of tilt tri-rotor UAV reamians a problem. In this paper, precise model of a tilt tri-rotor UAV is developed by combing system identification...
In this paper, a novel control scheme is proposed for quadrotor unmanned aerial vehicle (UAV) transportation systems. The proposed control law successfully achieves efficient quadrotor transferring and rapid swing elimination simultaneously. Specially, by analyzing the interconnected form of the system, the virtual control input for the outer loop is constructed via an energy-based analysis method,...
In this paper, we present a new control strategy based on partial feedback linearization for the system of a quadrotor UAV(unmanned aerial vehicle) with a suspended payload. An input-output stable based trajectory tracking control law is first proposed. To the end of stabilizing the internal system, a coupling term is then added to the input-output control law. And then the semi-global stability of...
As a core concept in the development of Unmanned Aerial Vehicles (UAVs) co-operation, formation flight is attracting more and more attention recently. To realize formation flight of fixed-wing vehicles, a geometric formation flight control method based on real-time guidance point computation is proposed in the paper. The control method is within the leader-follower pattern. Through the feed forward...
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