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In the past years Unmanned Aerial Vehicles (UAVs) have received considerable attention from the scientific community. The trajectory control is a fundamental block that a flight control system must properly address. However, a recent approach based on fractional calculus has shed a new light into this area, allowing the well tested PID controller to be improved even further. One advantage is that...
This article is concerned with parameters identification problems and computer modeling of thrust generation subsystem for small unmanned aerial vehicles (UAV) quadrotor type. In this paper approach for computer model generation of dynamic process of thrust generation subsystem that consists of fixed pitch propeller, EC motor and power amplifier, is considered. Due to the fact that obtainment of aerodynamic...
Path following is a fundamental problem for unmanned air vehicles (UAVs). In this paper, a Lyapunov stable path guidance law is designed to generate the course control command for a small UAV. The control parameters of the guidance law is optimized by the nonlinear model predictive control (NMPC) techinque. The relative simulations with the three different approaches: Lyapunov stable controller with...
Net recovery is an advanced accurate-point recovery way for small fixed-wing unmanned aerial vehicles (UAVs), especially in limited recovery fields or naval vessels. In order to perform recovery successfully, the aerial vehicle must satisfy certain conditions to shut down the engine so that it can glide into the net without a crash. In this paper, an aircraft longitudinal dynamic model is taken into...
Suitably equipped air traffic can be tracked by decoding its Automatic Dependent Surveillance (ADS) Broadcast (ADS-B) signal. ADS is defined by initiatives in the U.S. through the NextGen program and in Europe through the SESAR program. ADS-B surveillance service in the U.S. comprises of the 1090 Extended Squitter (1090ES) that operates on 1090 MHz and the Universal Access Transceiver that operates...
In this paper, based on Unreal Engine 4 (UE4) Unmanned Aerial Vehicle (UAV) simulator (AirSim), through AirLib, DroneServe, DroneShell and other modules in AirSim, using window10, 64-bit operating system, Intel Xeon E5-2620 v4 eight cores Dual CPU and Nvidia GeForce GTX 1080 Ti (11263MB / Nvidia) dual graphics card, a virtual reality platform is constructed for UAV deep learning. The platform displays...
Typically, crop-sprayers are designed to be used at the farmland located far from residence. However, farmlands may be found often in the middle of residence. Crop-sprayer for such dotted farmland should be designed specifically not to distribute chemicals outside of the farmland. The purpose of this research is to figure out the optimum configuration for spraying chemicals for dotted farmland.
Aiming at the problem of UAV dynamic modeling with high difficulty and poor timeliness, a UAV dynamic model based on Simulink/Aerosim rapid method is established in this paper. Based on the analysis of UAV system internal structure, using Simulink/Aerosim toolbox to build six degrees of freedom dynamic simulation model of unmanned aerial vehicle and the setting of relevant parameters and RTW environment...
A reconfiguration method using model-based control allocation scheme is proposed in this paper. A reconfigurable closed-loop control system is established for control of a UAV (unmanned aerial vehicle) fixed wing aircraft in autonomous flight in case of single and multiple control surfaces failures. The control allocation is determined by using of a nonlinear dynamic model of a UAV aircraft. The model...
Namely, the data flow architecture, and the data-centered architecture. We present the performance evaluation results for different aircraft models and different mission scenarios. Our approach can be used in the design of new unmanned aircraft models.
A cooperative maneuver decision method for multiple unmanned aerial vehicles is proposed to address the close-range air combat problem in this article. As the perfect information of adversary is impossible to obtain, a state predicted influence diagram model is established to solve the problem of the maneuver decision in the close-range air combat. The elements are analyzed comprehensively based on...
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...
A novel tilt tri-rotor unmanned aerial vehicle (UAV) which combines the vertical flight capability of a helicopter and forward flight performance of an airplane is proposed. The two front rotors are able to tilt from the vertical to the horizontal position, however, the third rotor is fixed in the aft fuselage with a small angle. The nonlinear dynamic model of tilt tri-rotor UAV is given by the equations...
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...
An asymmetrical engine failure in a multi-engine aircraft during flight can pose an immediate threat and lead to a fatal crash if no appropriate corrective action is taken in time. Although almost all pilots are trained to follow a protocol to manually mitigate the crisis, asymmetrical engine failure still remains as one of the main precursors leading to fatal aircraft crash. In this paper, an automatic...
Complexity is a measure of the difficulty that a particular air traffic situation represents to Air Traffic Controller (ATCo). This measure impacts on ATCo workload, which is an important factor for defining airspace capacity. This paper presents an evaluation of the impact of the insertion of Remotely Piloted Aircraft (RPA) on safety levels within a non-segregated airspace based on the calculation...
The aim of this paper is to provide a mathematical model for a convertible unmanned aerial vehicle that combines the capabilities of a flying wing and tricopter with tilt rotors. This article presents the mathematical model for airplane and tricopter modes as well as the way they are related during the transition phase. Also is presented a control strategy to hover flying. Finally, it is presented...
Tilt rotor unmanned aerial vehicle (TRUAV) with ability of hovering and high-speed cruise has attached much attention, but its transition control is still a difficult point because of varying dynamics. This paper proposes a multi-model adaptive control (MMAC) method for a quad-TRUAV, and the stability in the transition procedure could be ensured by considering corresponding dynamics. For safe transition,...
Unmanned Aerial Vehicle (UAV) development is a field with rising interest in recent years. One of its essential part is the autopilot, responsible for keeping the aircraft in desired flight conditions and for executing navigation tasks. Among the navigation tasks, one that stands out is the path- following operation, which guarantees that the aircraft follows a predefined trajectory. The literature...
This paper presents the design and implementation of a cost-effective, lightweight, yet power efficient tail-sitter Vertical Take-off and Landing (VTOL) unmanned aerial vehicle (UAV). The UAV consists a pair of wings for efficient level flight and four rotors for attitude control. The aerodynamic and mechanical configurations of the UAV are designed and implemented from scratch to meet the required...
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