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The paper presents a tube based Model Predictive Control (MPC) strategy for robust tracking control of PVTOL aircraft. PVTOL system is considered as a benchmark for investigating dynamics and control related issues for unmanned aerial vehicles (UAVs). Due to non-linear dynamics and under actuated nature of this system, the task of building control algorithm for such systems becomes challenging. Here,...
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...
This paper addresses simulation results about the altitude control of a quad-rotor unmanned flying vehicle (UAV) in the presence of uncertainty like wind gust. A sliding mode control was proposed, the gain of control can be decreased and, as a result, the chattering amplitude is reduced. The objective is to introduce an adaptation in the control law in order to decrease the gain to the minimal value...
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...
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...
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...
This paper proposes a method of finding the optimal position of unmanned aerial vehicles (UAVs) functioning as a communication relay node to improve the network connectivity and communication performance of a team of ground nodes/vehicles. A three-dimensional complex urban environment containing many buildings is considered where the line-of-sight between ground nodes is often blocked. The particle...
During last years the automated classification enabled by Unmanned Aerial System (UASs) captured the interest of many investors and researchers. Several applications could be explored ranging from precision agriculture to Land Use / Land Cover (LU/LC) thematic mapping. The use of UASs is novel when we consider the very high resolution (VHR) multi-hyper spectral sensing of a given area. Remote sensing...
Orthogonal Frequency Division Multiplexing (OFDM) can be a good candidate for wideband communications to transmit payload data from an Unmanned Aerial Vehicle (UAV) to the ground station in an Unmanned Aerial System (UAS). However, OFDM systems are prone to inter-channel interference caused by the Doppler spread. Furthermore, because of possible high speed of UAVs, the Doppler spread can be large...
This paper investigates the stand-off measurement of atmospheric pollutant concentrations and air quality parameters around industrial complexes. The theoretical investigation considers a robust, accurate and inexpensive measurement system based on tuneable Light Detection and Ranging (LIDAR), calibrated reflectors and imaging systems. The equipment is deployed in two non-collocated components. The...
Multirotor aerial vehicles are extensively employed in applications requiring a stationary surveillance platform to monitor a situation on the ground for a specific duration. In most cases, these systems are small in size and weigh < 10Kgs. This paper presents a design methodology employed to develop a multirotor system exceeding the conventional size and weight category. The study includes modelling...
This paper presents a feasibility study for end-body positioning maneuvers using a towed cable-body system where a fixed wing Unmanned Aerial Vehicle (UAV) is stabilized in a steady-state circular motion. As high precision maneuvers such as object pickup/dropoff are typically performed by rotorcraft UAVs, a successful fixed-wing concept would greatly increase the possible range for this type of operation...
Payload sensory information is critical to improve the degree of realism and context awareness in multi-UAV simulators. This paper describes a simulator for multi-payload cooperative UAS missions. It adopts an open Software-In-The-Loop (SITL) approach where the simulation of payload sensors and UAV navigation systems are distributed providing high degree of realism. The proposed simulation tool imposes...
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...
This paper investigates forest monitoring and fire detection strategies using a team of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). UAVs have great advantages in forest fire detection and fighting. However they have limited running time and payload capabilities, therefore UGVs are paired with UAVs to avoid their demerits. First, UGVs are used to transport the UAVs to the nearest...
A dynamic and decentralized assignment algorithm based on one-to-one coordination is proposed to solve the multi-target allocation problem under communication constraints. The objective is to assign the intruders dynamically among the available aerial robots in order to keep as many intruders as possible under tracking. When an aerial robot is not tracking a target, it is patrolling the area in order...
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...
Unmanned aerial vehicles (UAVs) are widely applied in both civil and military fields, such as rescue, surveillance, exploration, navigation, precision agriculture and etc., because of small size, low cost and easy maintenance. However the autonomous flight of UAVs under unstructured environment is still open, especially when GPS is unavailable or indoor task is scheduled. Furthermore, GPS-based navigation...
Dynamic characteristics of an actuator generally cause a deterioration of control performance because it has a time-lag element. If a control system is designed without considering the actuator dynamics, it cannot guarantee sufficient control performance or stability of a system. In conventional researches, the dynamic characteristics are treated as a modeling error when designing a robust controller...
Speed, agility, maneuverability, range and efficiency of birds and insects are far beyond the conventional flying mini vehicles. There are various research works to create vehicles that imitate these amazing creatures. In this paper, a wing mechanism is designed for a micro aerial vehicle using four flapping wings. In this system, a four-bar mechanism is preferred as the wing mechanism. In order to...
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