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This paper investigates the problem of the position and attitude control of quad-rotor UAV. A new simplified model which is more reasonable for some actual cases is derived. Based on the simplified model, a T-S fuzzy state feedback controller to stabilize the attitude of quad-rotor UAV is designed. Proposed control strategy can steer quad-rotor UAV flight with a desired acceleration. In addition,...
Formation tracking control problem of multiple quadrotors are considered in this paper. The complex under-actuated system is simplified into control problems of two fully-actuated subsystems. A new control strategy using leader-follower approach has been proposed. Attitude controller and position controller are constructed respectively based on the backstepping approach. Convergence of the formation...
In this paper we study the point-to-point optimal path problem for the fixed-wing UAV in obstacle environment. We first characterize the structure of the optimal path in the presence of stationary circular obstacles and provide a proof of the NP-hardness of the optimal path problem. To simplify the planning complexity, a rapid and efficient path planning algorithm is proposed in this paper. The novel...
This paper describes the implementation and experimental results of an on-board real-time kinematic global navigation satellite system (GNSS) for micro air vehicles (MAVs). In this study, a local NTRIP system is constructed, and a base station and a rover station are designed. The RTKLIB source code is modified and ported to single-board computers, forming the stream server of the base station and...
This paper presents a kind of multi-UAVs cooperatively mission area searching algorithm with no-fly zones constraints. According to the existing environment and the states of UAVs, the search cost function is designed, and quantified the standard of flight path selecting of the UAVs. The search cost guids the UAVs to search the area along the flight path which has minimum cost. The algorithm is designed...
This paper presents a path planning algorithm named APF-IRP, which can be applied in complex dynamic environment for Unmanned Aerial Vehicles (UAVs). As is known to all, it is difficult for UAVs to have a clear understanding of the global environmental information before taking off. So the concept of rolling window is introduced to detect the dynamic and static obstacles within a certain range by...
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