This document reviews various techniques for designing longitudinal control laws for small fixed-wing unmanned aerial vehicles (UAVs). It discusses techniques such as integral sliding mode control, linear quadratic regulator (LQR), Apriltags recognition algorithm with PID control, observer Kalman identification with PID control, root locus method, nonlinear model simulation, and multi-model techniques. These techniques have been applied to problems such as longitudinal guidance, stability augmentation, autonomous landing, and modeling fixed-wing UAV dynamics. The document analyzes the effectiveness and robustness of different proposed control schemes through simulations and comparisons of various techniques.
We will introduce a development of a mini-quad rotor system for indoor application at Keokuk University. The propulsion system consists of X-UFO blade propellers and brushless direct current (DC) motors assembled on a very stiff ai rframe made of carbon fiber composite material. The attitude control system consists of a stab ility augmentation system as the inner loop control and a modern control approach as the outer lo op. The closed-loop contro l is a PID controller,which is used for the flight test to valid ate our aerodynamic mode ling. To perform an experimental flight test,basic electronics hardware will de velop in a simple configuration. We will use an AVR microcontroller as the embe dded controller,a low-cost 100 Hz AHRS for inertial sensing,infrared (IR) sensors for horizontal ranging,and an ultrasonic sensor for ground ranging. A high performance propeller system is built on an X-UFO quad rotor airframe. The developing flying robot is shown to have an automatic hovering ability with aid of a ground control system that uses mon itoring and a fail-safe system. We will introduce a new quad rotor platform for realizing autonomous navigation in unknown indoor/outdoor environments. Au tonomous waypoint navigation,obs tacle avoidance and flight control is implemented on-board. The system does not require a special environment,artificial markers or an external reference system. We will develop a monolithic,mechanically damped perception unit which is equipped with a stereo camera pair,an Inertial Measurement Unit (IMU),two processor and an FPGA board.
Aircraft pitch control design using LQG controller based on genetic algorithmTELKOMNIKA JOURNAL
Designing a robust aircraft control system used to achieve a good tracking performance and stable dynamic behavior against working disturbances problem has attracted attention of control engineers. In this paper, a pitch angle control system for aircraft is designed utilizing liner quadratic Gaussian (LQG) optimal controller technique with a numerical tuning algorithm method in the longitudinal plane through cruising stage. Main design approach of LQG controller includes obtaining best weighting matrices values using trial and error method that consumes effort and takes more time, in addition, there is no guarantees to obtain optimum values for weighting matrices elements. In this research, genetic algorithm (GA) is used to optimize the state and control weighting matrices and determine best values for their elements. The proposed traditional and optimized LQG pitch controller schemes are implemented utilizing Matlab simulation tool and their performance are presented and compared based on transient and steady state performance parameters. The simulation results reveal the ability of the optimized GA_LQG controller to reject the effect of the noises in the aircraft system dynamic and achieve a good and stable tracking performance compared with that of the conventional LQG pitch control system.
Smart aerosonde UAV longitudinal flight control system based on genetic algor...journalBEEI
Synthesis of a flight control system for such an aircraft that achieves stable and acceptable performance across a specified flying envelope in the presence of uncertainties represents an attractive and challenging design problem. This study uses the genetic self-tuning PID algorithm to develop an intelligent flight control system for the aerosonde UAV model. To improve the system's transient responses, the gains of the PID controller are improved using a genetic algorithm (GA). Simulink/MATLAB software is used to model and simulate the proposed system. The proposed PID controller integrated with the GA is compared with the classical one. Three simulation scenarios are carried out. In the first scenario, and at normal conditions, the proposed controller performance is better than the classical one. While in the second scenario, identical results are achieved from both controllers. Finally, in the third scenario, the PID controller with GA shows the robustness and durability of the system compared with the classical PID in presence of external wind disturbance. The simulation results prove the system parameters optimization.
There have been many advancements in the field of aerospace and avionics. Scientists have increasingly started to focus on VTOL (vertical take - off and landing) aircrafts. We have built a
miniature VTOL twinrotor UAV. UAVs have begun to grab a lot of attention these days due to its numerous applications such as surveillance and relief. Twinrotor is a kind of a helicopter having two main propellers instead of one and no tail fin. All three important motion of the aircraft i.e. roll, pitch, yaw are controlled by thrust vectoring using servo motors and changing the magnitude of thrust using electronics speed controllers. The paper deals with the design of a basic UAV based on application and the construction keeping in mind the different concepts that govern its motion
In the past decade Unmanned Aerial Vehicles (UAVs) have become a topic of interest in many research organizations. UAVs are finding applications in various areas ranging from military applications to traffic surveillance. This paper is a survey for a certain kind of UAV called quadrotor or quadcopter. Researchers are frequently choosing quadrotors for their research because a quadrotor can accurately and efficiently perform tasks that would be of high risk for a human pilot to perform. This paper encompasses the dynamic models of a quadrotor and the different model-dependent and model-independent control techniques and their comparison. Recently, focus has shifted to designing autonomous quadrotors. A summary of the various localization and navigation techniques has been given. Lastly, the paper investigates the potential applications of quadrotors and their role in multi-agent systems.
Automatic Landing of a UAV Using Model Predictive Control for the Surveillanc...AM Publications
The objective of this paper is to provide safe landing of an UAV on any demanding conditions and can be very useful during the period of floods, rescuing the affected people. It can be also be useful in military operations. This system provides stable method for landing of an aircraft. Image processing technique is used to capture the image and find the angle of inclinations. MATLAB produces four types of image through Image processing technique. They are Gray image, Edge Detection image, Histogram image, object detection image. MATLAB sends the histogram signal to microcontroller using UART. It is used to convert the received parallel data into serial data for transmitting the data to longer distance. Relay drives the DC motor. Angle of inclinations is measured according to the detected image of the surface. MATLAB produces the total inclination value of the surface. DC motor automatically adjusts the landing gear according to the obtained input inclination value of the surface. An UAV is programmed to adjust the landing gear according to angle of inclination. When the landing surface is detected for landing the aircraft, it automatically adjusts the landing gear and lands the aircraft according to the inclined surface of the landing area.
Optimal backstepping control of quadrotor UAV using gravitational search opti...journalBEEI
Quadrotor unmanned aerial vehicle (UAV) has superior characteristics such as ability to take off and land vertically, to hover in a stable air condition and to perform fast maneuvers. However, developing a high-performance quadrotor UAV controller is a difficult problem as quadrotor is an unstable and underactuated nonlinear system. The effort in this article focuses on designing and optimizing an autonomous quadrotor UAV controller. First, the aerial vehicle's dynamic model is presented. Then it is suggested an optimal backstepping controller (OBC). Traditionally, backstepping controller (BC) parameters are often selected arbitrarily. The gravitational search algorithm (GSA) is used here to determine the BC parameter optimum values. In the algorithm, the control parameters are calculated using an integral absolute error to minimize the fitness function. As the control law is based on the theorem of Lyapunov, the asymptotic stability of the scheme can be ensured. Finally, several simulation studies are conducted to show the efficacy of the suggested OBC.
Improvement of Pitch Motion Control of an Aircraft SystemsTELKOMNIKA JOURNAL
The movement of the aircraft pitch is very important to ensure the passengers and crews are in
intrinsically safe and the aircraft achieves its maximum stability.The objective of this study is to provide a
solution to the control system that features particularly on the pitch angle motion of aircraft systemin order
to have a comfort boarding. Three controllers were developed in these projects which wereproportional
integral derivative (PID), fuzzy logic controller (FLC), and linear quadratic regulator (LQR) controllers.
These controllers will help improving the pitch angle and achievingthe target reference. By improving the
pitch motion angle, the flight will be stabilized and in steady cruise (no jerking effect), hence provides all
the passengers withthe comfort zone. Simulation results have been done and analyzed using Matlab
software. The simulation results demonstrated LQR and FLC were better than PID in the pitch motion
system due to the small error performance. In addition, withstrong external disturbances, a single controller
is unable to control the system, thus, the combination of PID and LQR managed to stabilize the aircraft.
There have been many advancements in the field of aerospace and avionics. Scientists have
increasingly started to focus on VTOL (vertical take - off and landing) aircrafts. We have built a
miniature VTOL twinrotor UAV. UAVs have begun to grab a lot of attention these days due to
its numerous applications such as surveillance and relief. Twinrotor is a kind of a helicopter
having two main propellers instead of one and no tail fin. All three important motion of the
aircraft i.e. roll, pitch, yaw are controlled by thrust vectoring using servo motors and changing
the magnitude of thrust using electronics speed controllers. The paper deals with the design of a
basic UAV based on application and the construction keeping in mind the different concepts
that govern its motion.
Low-cost quadrotor hardware design with PID control system as flight controllerTELKOMNIKA JOURNAL
In designing an Unmanned Aerial Vehicle (UAV), such as quadrotor, sometimes an engineer should consider the required cost that is relatively expensive. As we know, quadrotor is one of robots that very usefull and has several advantages for human needs such as disaster area monitoring, air quality monitoring, area mapping, aerial photography, and surveillance. Thus, designing a rapid quadrotor with low-cost components and simple control system needs to be considered here. This paper presents design and implementation of a quadrotor using relatively low-cost components with Proportional Integral Derivative (PID) control system as its controller. The components used consist of microcontroller, Inertial Measurement Unit (IMU) sensor, Brushless Direct Current (BLDC) motor, Electronic Speed Control (ESC), remote control unit, battery, and frame. These components can be easily found in the electronic markets, especially in Indonesia. As an addition, this paper also describes PID control system as flight controller. A simple economic analysis is presented to clarify the cost in designing this quadrotor. Based on experimental testing result, the quadrotor able to fly stably with PID controller although there still overshoot at the attitude responses.
Design and Structural Analysis for an Autonomous UAV System Consisting of Sla...IOSR Journals
Abstract: An Unmanned Aerial Vehicle (UAV) is an aircraft without a human pilot. It can either be controlled manually by a pilot on the ground using a trans-receiver or it can be programmed to operate autonomously. In this proposed control system, multiple slave Micro Aerial Vehicles(MAV) are dispatched from a master UAV for surveillance. All the MAVs are synchronized with each other through the master UAV which highlights their purpose and position. The master UAV acts as a mobile base for the surveillance, it stores the data collected by the MAVs and transmits them to a remote base. A design of the UAV-MAV system and its performance analysis is presented.
Keywords- Autonomous control, Characteristics, Linux, Master / Slave Aerial Vehicles, NX 8.0 Nastran, Surveillance.
We will introduce a development of a mini-quad rotor system for indoor application at Keokuk University. The propulsion system consists of X-UFO blade propellers and brushless direct current (DC) motors assembled on a very stiff ai rframe made of carbon fiber composite material. The attitude control system consists of a stab ility augmentation system as the inner loop control and a modern control approach as the outer lo op. The closed-loop contro l is a PID controller,which is used for the flight test to valid ate our aerodynamic mode ling. To perform an experimental flight test,basic electronics hardware will de velop in a simple configuration. We will use an AVR microcontroller as the embe dded controller,a low-cost 100 Hz AHRS for inertial sensing,infrared (IR) sensors for horizontal ranging,and an ultrasonic sensor for ground ranging. A high performance propeller system is built on an X-UFO quad rotor airframe. The developing flying robot is shown to have an automatic hovering ability with aid of a ground control system that uses mon itoring and a fail-safe system. We will introduce a new quad rotor platform for realizing autonomous navigation in unknown indoor/outdoor environments. Au tonomous waypoint navigation,obs tacle avoidance and flight control is implemented on-board. The system does not require a special environment,artificial markers or an external reference system. We will develop a monolithic,mechanically damped perception unit which is equipped with a stereo camera pair,an Inertial Measurement Unit (IMU),two processor and an FPGA board.
Aircraft pitch control design using LQG controller based on genetic algorithmTELKOMNIKA JOURNAL
Designing a robust aircraft control system used to achieve a good tracking performance and stable dynamic behavior against working disturbances problem has attracted attention of control engineers. In this paper, a pitch angle control system for aircraft is designed utilizing liner quadratic Gaussian (LQG) optimal controller technique with a numerical tuning algorithm method in the longitudinal plane through cruising stage. Main design approach of LQG controller includes obtaining best weighting matrices values using trial and error method that consumes effort and takes more time, in addition, there is no guarantees to obtain optimum values for weighting matrices elements. In this research, genetic algorithm (GA) is used to optimize the state and control weighting matrices and determine best values for their elements. The proposed traditional and optimized LQG pitch controller schemes are implemented utilizing Matlab simulation tool and their performance are presented and compared based on transient and steady state performance parameters. The simulation results reveal the ability of the optimized GA_LQG controller to reject the effect of the noises in the aircraft system dynamic and achieve a good and stable tracking performance compared with that of the conventional LQG pitch control system.
Smart aerosonde UAV longitudinal flight control system based on genetic algor...journalBEEI
Synthesis of a flight control system for such an aircraft that achieves stable and acceptable performance across a specified flying envelope in the presence of uncertainties represents an attractive and challenging design problem. This study uses the genetic self-tuning PID algorithm to develop an intelligent flight control system for the aerosonde UAV model. To improve the system's transient responses, the gains of the PID controller are improved using a genetic algorithm (GA). Simulink/MATLAB software is used to model and simulate the proposed system. The proposed PID controller integrated with the GA is compared with the classical one. Three simulation scenarios are carried out. In the first scenario, and at normal conditions, the proposed controller performance is better than the classical one. While in the second scenario, identical results are achieved from both controllers. Finally, in the third scenario, the PID controller with GA shows the robustness and durability of the system compared with the classical PID in presence of external wind disturbance. The simulation results prove the system parameters optimization.
There have been many advancements in the field of aerospace and avionics. Scientists have increasingly started to focus on VTOL (vertical take - off and landing) aircrafts. We have built a
miniature VTOL twinrotor UAV. UAVs have begun to grab a lot of attention these days due to its numerous applications such as surveillance and relief. Twinrotor is a kind of a helicopter having two main propellers instead of one and no tail fin. All three important motion of the aircraft i.e. roll, pitch, yaw are controlled by thrust vectoring using servo motors and changing the magnitude of thrust using electronics speed controllers. The paper deals with the design of a basic UAV based on application and the construction keeping in mind the different concepts that govern its motion
In the past decade Unmanned Aerial Vehicles (UAVs) have become a topic of interest in many research organizations. UAVs are finding applications in various areas ranging from military applications to traffic surveillance. This paper is a survey for a certain kind of UAV called quadrotor or quadcopter. Researchers are frequently choosing quadrotors for their research because a quadrotor can accurately and efficiently perform tasks that would be of high risk for a human pilot to perform. This paper encompasses the dynamic models of a quadrotor and the different model-dependent and model-independent control techniques and their comparison. Recently, focus has shifted to designing autonomous quadrotors. A summary of the various localization and navigation techniques has been given. Lastly, the paper investigates the potential applications of quadrotors and their role in multi-agent systems.
Automatic Landing of a UAV Using Model Predictive Control for the Surveillanc...AM Publications
The objective of this paper is to provide safe landing of an UAV on any demanding conditions and can be very useful during the period of floods, rescuing the affected people. It can be also be useful in military operations. This system provides stable method for landing of an aircraft. Image processing technique is used to capture the image and find the angle of inclinations. MATLAB produces four types of image through Image processing technique. They are Gray image, Edge Detection image, Histogram image, object detection image. MATLAB sends the histogram signal to microcontroller using UART. It is used to convert the received parallel data into serial data for transmitting the data to longer distance. Relay drives the DC motor. Angle of inclinations is measured according to the detected image of the surface. MATLAB produces the total inclination value of the surface. DC motor automatically adjusts the landing gear according to the obtained input inclination value of the surface. An UAV is programmed to adjust the landing gear according to angle of inclination. When the landing surface is detected for landing the aircraft, it automatically adjusts the landing gear and lands the aircraft according to the inclined surface of the landing area.
Optimal backstepping control of quadrotor UAV using gravitational search opti...journalBEEI
Quadrotor unmanned aerial vehicle (UAV) has superior characteristics such as ability to take off and land vertically, to hover in a stable air condition and to perform fast maneuvers. However, developing a high-performance quadrotor UAV controller is a difficult problem as quadrotor is an unstable and underactuated nonlinear system. The effort in this article focuses on designing and optimizing an autonomous quadrotor UAV controller. First, the aerial vehicle's dynamic model is presented. Then it is suggested an optimal backstepping controller (OBC). Traditionally, backstepping controller (BC) parameters are often selected arbitrarily. The gravitational search algorithm (GSA) is used here to determine the BC parameter optimum values. In the algorithm, the control parameters are calculated using an integral absolute error to minimize the fitness function. As the control law is based on the theorem of Lyapunov, the asymptotic stability of the scheme can be ensured. Finally, several simulation studies are conducted to show the efficacy of the suggested OBC.
Improvement of Pitch Motion Control of an Aircraft SystemsTELKOMNIKA JOURNAL
The movement of the aircraft pitch is very important to ensure the passengers and crews are in
intrinsically safe and the aircraft achieves its maximum stability.The objective of this study is to provide a
solution to the control system that features particularly on the pitch angle motion of aircraft systemin order
to have a comfort boarding. Three controllers were developed in these projects which wereproportional
integral derivative (PID), fuzzy logic controller (FLC), and linear quadratic regulator (LQR) controllers.
These controllers will help improving the pitch angle and achievingthe target reference. By improving the
pitch motion angle, the flight will be stabilized and in steady cruise (no jerking effect), hence provides all
the passengers withthe comfort zone. Simulation results have been done and analyzed using Matlab
software. The simulation results demonstrated LQR and FLC were better than PID in the pitch motion
system due to the small error performance. In addition, withstrong external disturbances, a single controller
is unable to control the system, thus, the combination of PID and LQR managed to stabilize the aircraft.
There have been many advancements in the field of aerospace and avionics. Scientists have
increasingly started to focus on VTOL (vertical take - off and landing) aircrafts. We have built a
miniature VTOL twinrotor UAV. UAVs have begun to grab a lot of attention these days due to
its numerous applications such as surveillance and relief. Twinrotor is a kind of a helicopter
having two main propellers instead of one and no tail fin. All three important motion of the
aircraft i.e. roll, pitch, yaw are controlled by thrust vectoring using servo motors and changing
the magnitude of thrust using electronics speed controllers. The paper deals with the design of a
basic UAV based on application and the construction keeping in mind the different concepts
that govern its motion.
Low-cost quadrotor hardware design with PID control system as flight controllerTELKOMNIKA JOURNAL
In designing an Unmanned Aerial Vehicle (UAV), such as quadrotor, sometimes an engineer should consider the required cost that is relatively expensive. As we know, quadrotor is one of robots that very usefull and has several advantages for human needs such as disaster area monitoring, air quality monitoring, area mapping, aerial photography, and surveillance. Thus, designing a rapid quadrotor with low-cost components and simple control system needs to be considered here. This paper presents design and implementation of a quadrotor using relatively low-cost components with Proportional Integral Derivative (PID) control system as its controller. The components used consist of microcontroller, Inertial Measurement Unit (IMU) sensor, Brushless Direct Current (BLDC) motor, Electronic Speed Control (ESC), remote control unit, battery, and frame. These components can be easily found in the electronic markets, especially in Indonesia. As an addition, this paper also describes PID control system as flight controller. A simple economic analysis is presented to clarify the cost in designing this quadrotor. Based on experimental testing result, the quadrotor able to fly stably with PID controller although there still overshoot at the attitude responses.
Design and Structural Analysis for an Autonomous UAV System Consisting of Sla...IOSR Journals
Abstract: An Unmanned Aerial Vehicle (UAV) is an aircraft without a human pilot. It can either be controlled manually by a pilot on the ground using a trans-receiver or it can be programmed to operate autonomously. In this proposed control system, multiple slave Micro Aerial Vehicles(MAV) are dispatched from a master UAV for surveillance. All the MAVs are synchronized with each other through the master UAV which highlights their purpose and position. The master UAV acts as a mobile base for the surveillance, it stores the data collected by the MAVs and transmits them to a remote base. A design of the UAV-MAV system and its performance analysis is presented.
Keywords- Autonomous control, Characteristics, Linux, Master / Slave Aerial Vehicles, NX 8.0 Nastran, Surveillance.
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