The objective of this paper is to develop a customized autopilot system that enables a helicopter model to carry out an autonomous flight using on-board microcontroller. The main goal of this project is to provide a comprehensive controller design methodology, Modeling, simulation, guidance and verification for an unmanned helicopter model. The autopilot system was designed to demonstrate autonomous maneuvers such as flying over the planned waypoints with constant forward speed.
The objective of this paper is to develop a customized autopilot system that enables a helicopter model to carry out an autonomous flight using on-board microcontroller. The main goal of this project is to provide a comprehensive controller design methodology, Modeling, simulation, guidance and verification for an unmanned helicopter model. The autopilot system was designed to demonstrate autonomous maneuvers such as flying over the planned waypoints with constant forward speed and considerable steep maneuvers. For the controller design, the nonlinear dynamic model of the Remote Control helicopter was built by employing Lumped Parameter approach comprising of four different subsystems such as actuator dynamics, rotary wing dynamics, force and moment generation process and rigid body dynamics. The nonlinear helicopter mathematical model was then linearized using small perturbation theory for stability analysis and linear feedback control system design. The linear state feedback for the stabilization and control of the helicopter was derived using Pole Placement Method. The overall dynamic system control with output feedback was computed using Genetic Algorithm. Series of Matlab-Simulink models and guidance algorithms were presented in this work to simulate and verify the autopilot system performance. The proposed autopilot has shown acceptable capability of stabilizing and controlling the helicopter during tracking the desired waypoints. This paper is presenting a detailed comparison study for two different guidance strategies. The first strategy is concerning the difference between the desired heading or elevation referred to the next waypoint and the actual heading or elevation of the unmanned helicopter model. The second strategy is concerning the relative distance between the actual and the desired trajectories. In other words the first method is tracking the waypoints while the second one is tracking the trajectory. In this work a comparison study was conducted through the mentioned strategies simulation to show the significant differences in the output performance. Some performance indexes were presented to evaluate the system performance errors and the control effort needed for both strategies using the same desired trajectory and the same waypoints.
This document provides an overview of the design and fabrication of a tricopter drone. It describes the motivation to build the tricopter with a low budget and light weight. The key components of the tricopter include three brushless motors, an Atmega168PA controller board, receiver, batteries, and a glass fiber frame. Challenges in the design included balancing the tricopter and integrating the gyroscope and accelerometer. Testing involved mechanical design, propeller selection, electrical connections, and programming the controller board. The conclusion discusses potential applications in military, industrial, and commercial uses if further funding and experimental analysis are conducted.
Design and Implementation of a Quadrotor HelicopterHicham Berkouk
This is a project on building a quadrotor from scratch. From the history; physics and modeling to system hardware and software. The control algorithm is built arround a PID loop. For more details, please feel free to comment or send me an email to: hicham.berkouk@outlook.com
The document summarizes a master's thesis that analyzes and develops controllers for a quadcopter. It presents the dynamic equations of the quadcopter and linearizes them. Two backstepping controllers are developed - a simpler one that cannot absorb disturbances, and a more advanced one that can handle disturbances like changes in mass. Both controllers separate attitude from horizontal/vertical position control. The controllers are simulated and compared to evaluate their performance.
ENHANCED DATA DRIVEN MODE-FREE ADAPTIVE YAW CONTROL OF UAV HELICOPTERijics
An enhanced data driven model-free adaptive yaw control tracking control scheme is proposed for the yaw
channel of an unmanned-aerial-vehicle (UAV) helicopter which is non-affine in the control input in this paper. Through dynamic linearization and observer techniques, the proposed control algorithm is only based on the pseudo-partial derivative (PPD) parameter estimation derived online from the I/O data of the yaw channel of an UAV helicopter, and Lyapunov-based stability analysis is utilized to prove all signals of
close-loop control system are bounded. Compared with the traditional model free adaptive control
(MFAC), the proposed enhanced MFAC algorithm can make the close-loop control system with stronger robustness and better anti-jamming ability. Finally, simulation results of the UAV yaw channel are offered to demonstrate the effectiveness of the proposed novel control technique.
How does a Quadrotor fly? A journey from physics, mathematics, control system...Corrado Santoro
The document discusses how a quadrotor flies through physics, mathematics, control systems, and computer science. It explains that a quadrotor uses four propellers to generate thrust forces for lift and control. The speeds of the four propellers can be varied independently to control the quadrotor's roll, pitch, yaw rates and total thrust based on equations. However, real quadrotors face challenges due to differences in hardware. Control systems using feedback from sensors are needed to achieve reliable control despite uncertainties.
This document discusses autonomous formation flight control for aerial refueling missions. It models the dynamics of a KC-130J tanker and F-16 receiver in close formation flight. A control strategy is designed using a rotating reference frame attached to the wingman aircraft. The strategy aims to control the wingman's position relative to the leader through state error feedback between the aircraft. Specifically, it controls the lateral and forward distance between the aircraft in the level flight plane, as well as the vertical distance. The control system design decomposes the problem into inner loop attitude control and outer loop trajectory control of the formation geometry.
This article considers different approaches for autopilot controller gain values adjustment. The correct autopilot
performance is tested using modeling methods. A variant of land-based autopilot is considered. Examined are
scenarios of UAV airplanes in level flight. The latter are applicable to tasks such as remote sensing, controlled
area surveillance, etc.
The objective of this paper is to develop a customized autopilot system that enables a helicopter model to carry out an autonomous flight using on-board microcontroller. The main goal of this project is to provide a comprehensive controller design methodology, Modeling, simulation, guidance and verification for an unmanned helicopter model. The autopilot system was designed to demonstrate autonomous maneuvers such as flying over the planned waypoints with constant forward speed and considerable steep maneuvers. For the controller design, the nonlinear dynamic model of the Remote Control helicopter was built by employing Lumped Parameter approach comprising of four different subsystems such as actuator dynamics, rotary wing dynamics, force and moment generation process and rigid body dynamics. The nonlinear helicopter mathematical model was then linearized using small perturbation theory for stability analysis and linear feedback control system design. The linear state feedback for the stabilization and control of the helicopter was derived using Pole Placement Method. The overall dynamic system control with output feedback was computed using Genetic Algorithm. Series of Matlab-Simulink models and guidance algorithms were presented in this work to simulate and verify the autopilot system performance. The proposed autopilot has shown acceptable capability of stabilizing and controlling the helicopter during tracking the desired waypoints. This paper is presenting a detailed comparison study for two different guidance strategies. The first strategy is concerning the difference between the desired heading or elevation referred to the next waypoint and the actual heading or elevation of the unmanned helicopter model. The second strategy is concerning the relative distance between the actual and the desired trajectories. In other words the first method is tracking the waypoints while the second one is tracking the trajectory. In this work a comparison study was conducted through the mentioned strategies simulation to show the significant differences in the output performance. Some performance indexes were presented to evaluate the system performance errors and the control effort needed for both strategies using the same desired trajectory and the same waypoints.
This document provides an overview of the design and fabrication of a tricopter drone. It describes the motivation to build the tricopter with a low budget and light weight. The key components of the tricopter include three brushless motors, an Atmega168PA controller board, receiver, batteries, and a glass fiber frame. Challenges in the design included balancing the tricopter and integrating the gyroscope and accelerometer. Testing involved mechanical design, propeller selection, electrical connections, and programming the controller board. The conclusion discusses potential applications in military, industrial, and commercial uses if further funding and experimental analysis are conducted.
Design and Implementation of a Quadrotor HelicopterHicham Berkouk
This is a project on building a quadrotor from scratch. From the history; physics and modeling to system hardware and software. The control algorithm is built arround a PID loop. For more details, please feel free to comment or send me an email to: hicham.berkouk@outlook.com
The document summarizes a master's thesis that analyzes and develops controllers for a quadcopter. It presents the dynamic equations of the quadcopter and linearizes them. Two backstepping controllers are developed - a simpler one that cannot absorb disturbances, and a more advanced one that can handle disturbances like changes in mass. Both controllers separate attitude from horizontal/vertical position control. The controllers are simulated and compared to evaluate their performance.
ENHANCED DATA DRIVEN MODE-FREE ADAPTIVE YAW CONTROL OF UAV HELICOPTERijics
An enhanced data driven model-free adaptive yaw control tracking control scheme is proposed for the yaw
channel of an unmanned-aerial-vehicle (UAV) helicopter which is non-affine in the control input in this paper. Through dynamic linearization and observer techniques, the proposed control algorithm is only based on the pseudo-partial derivative (PPD) parameter estimation derived online from the I/O data of the yaw channel of an UAV helicopter, and Lyapunov-based stability analysis is utilized to prove all signals of
close-loop control system are bounded. Compared with the traditional model free adaptive control
(MFAC), the proposed enhanced MFAC algorithm can make the close-loop control system with stronger robustness and better anti-jamming ability. Finally, simulation results of the UAV yaw channel are offered to demonstrate the effectiveness of the proposed novel control technique.
How does a Quadrotor fly? A journey from physics, mathematics, control system...Corrado Santoro
The document discusses how a quadrotor flies through physics, mathematics, control systems, and computer science. It explains that a quadrotor uses four propellers to generate thrust forces for lift and control. The speeds of the four propellers can be varied independently to control the quadrotor's roll, pitch, yaw rates and total thrust based on equations. However, real quadrotors face challenges due to differences in hardware. Control systems using feedback from sensors are needed to achieve reliable control despite uncertainties.
This document discusses autonomous formation flight control for aerial refueling missions. It models the dynamics of a KC-130J tanker and F-16 receiver in close formation flight. A control strategy is designed using a rotating reference frame attached to the wingman aircraft. The strategy aims to control the wingman's position relative to the leader through state error feedback between the aircraft. Specifically, it controls the lateral and forward distance between the aircraft in the level flight plane, as well as the vertical distance. The control system design decomposes the problem into inner loop attitude control and outer loop trajectory control of the formation geometry.
This article considers different approaches for autopilot controller gain values adjustment. The correct autopilot
performance is tested using modeling methods. A variant of land-based autopilot is considered. Examined are
scenarios of UAV airplanes in level flight. The latter are applicable to tasks such as remote sensing, controlled
area surveillance, etc.
This document discusses the potential for a cargo carrier system called SALTO to provide independent space access for Italy. The key requirements are a minimum orbital life of 60 days, payload capacity over 100kg, and the ability to launch from aircraft to orbit within 3 days of alert. The document evaluates different aircraft options and selects the C130J as meeting the requirements. It defines the SALTO system components including the launch vehicle and deployment approach from the aircraft. Performance maps show the payload capacities for different orbital altitudes and inclinations. The implementation plan over 6 years includes developing demonstration models to test extraction from the aircraft. An example mission to Afghanistan is presented and found compatible with SALTO's capabilities.
Micro cam based on electrostatic comb drive actuatorslyPham70
The document describes a micro cam mechanism based on electrostatic comb-drive actuators. It consists of fixed electrodes, movable parts, and a movement transmission mechanism. Force analysis shows the minimum driving voltage required is 67.81V. Fabrication uses lithography, DRIE, and vapor HF etching on a silicon wafer. Testing showed the mechanism operated successfully, with the follower achieving 160μm of stroke at 80-100V driving voltage. Future work will aim to reduce the driving voltage and improve performance.
Effectiveness of Fast Speed Yaw and Roll Control Switching Instead of Normal ...AM Publications
In this paper, the effectiveness of new position control strategy - fast speed yaw and roll control switching method instead of the roll control only in Parrot AR Drone 4 rotor helicopter in horizontal plane for automatic fixed position flight was confirmed. General 4 rotor basic flight controller considers only simple floating control and does not concern the position control in the space, the AR Drone was also developed as realizing the floating control only and it is necessary to control the position by the user. Instead of a simple roll control, fast speed switching yaw and roll controls (plus pitch control) could realize stable automatic fixed position control comparing with the simple roll plus pitch controls in the horizontal plane. Proposed method reduced the AR Drone automatic fixed control within S.D. of x and y axis to 31.6% and 54.8% comparing with the normal roll plus pitch controls S.D. of x and y in 3.5 x 5 x 2.4 m room, and it will useful for hobby-class 4 rotor system's the aircraft position control in such a small room condition.
Stability Control of an Autonomous Quadcopter through PID Control LawIJERA Editor
In the recent years the world has seen a astonishing ascendance of non tripulated vehicles, and among these is the quadrotors aircrafts or quadcopters. These types of aircraft have been of particular interest due to its easy maneuverability in closed and open spaces and somewhat simplified dynamics. In these paper is presented an first attempt in the built model, to control the 4 DOF(Degrees of freedom) of an soon to be autonomous quadcopter through PID law in an controlled environment.
The document outlines Samuel Narcisse's portfolio of projects including control systems simulations and implementations using MATLAB and C++, robotics projects, coding projects, work experience in mechanical design, robotics coordination, and technical writing, and personal projects involving multicopters, satellites, parallel manipulators, and more. The projects demonstrate skills and experience in areas such as control systems, robotics, coding, CAD, simulation, instrumentation, and technical documentation.
Complete Coverage Navigation for Autonomous Clay Roller in Salt-Farming Appli...Norawit Nangsue`
This document summarizes a presentation about developing complete coverage navigation for an autonomous clay roller used in salt farming. It describes:
1) The basic salt farming process in Thailand and why smoothing fields is important.
2) How a clay roller is currently used manually to smooth fields.
3) The development of path planning and tracking algorithms to allow the clay roller to autonomously smooth fields with complete coverage. This includes algorithms for rear-steering bicycle kinematics, global path planning, local path tracking, and velocity control.
4) Test results showing the autonomous system achieved 97.3% coverage planning and 95.8% coverage in testing over 34 minutes.
Abstract This paper presents the design and implementation of a quadcopter capable of payload delivery. A quadcopter is a unique unmanned aerial vehicle which has the capability of vertical take-off and landing. In this design, the quadcopter was controlled wirelessly from a ground control station using radio frequency. It was modeled mathematically considering its attitude and altitude, and a simulation carried out in MATLAB by designing a proportional Integral Derivative (PID) controller was applied to a mathematical model. The PID controller parameters were then applied to the real system. Finally, the output of the simulation and the prototype were compared both in the presence and absence of disturbances. The results showed that the quadcopter was stable and able to compensate for the external disturbances.
Abstract This paper presents the design and implementation of a quadcopter capable of payload delivery. A quadcopter is a unique unmanned aerial vehicle which has the capability of vertical take-off and landing. In this design, the quadcopter was controlled wirelessly from a ground control station using radio frequency. It was modeled mathematically considering its attitude and altitude, and a simulation carried out in MATLAB by designing a proportional Integral Derivative (PID) controller was applied to a mathematical model. The PID controller parameters were then applied to the real system. Finally, the output of the simulation and the prototype were compared both in the presence and absence of disturbances. The results showed that the quadcopter was stable and able to compensate for the external disturbances.
study of yaw and pitch control in quad copter PranaliPatil76
This document describes an experimental study of yaw and pitch control in quadcopters. It discusses how quadcopters use independent variation of rotor speeds to control pitch, roll, and yaw. Yaw control is achieved by varying the net torque on the quadcopter by increasing the thrust of rotors spinning in one direction compared to the other. Pitch control is achieved by varying the net center of thrust. The document provides equations for calculating torque and describes how adjusting rotor thrusts can cause the quadcopter to yaw or rotate in different directions.
DUAL NEURAL NETWORK FOR ADAPTIVE SLIDING MODE CONTROL OF QUADROTOR HELICOPTER...ijistjournal
An adaptive sliding mode control based on two neural networks is proposed in this paper for Quadrotor stabilization. This approach presents solutions to conventional control drawbacks as chattering phenomenon and dynamical model imprecision. For that reason two ANN for each quadrotor helicopter subsystem are implemented in the control loop, the first one is a Single Hidden Layer network used to approximate on line the equivalent control and the second feed-forward Network is used to estimate the ideal corrective term. The main purpose behind the use of ANN in the second part of SMC is to minimize the chattering phenomena and response time by finding optimal sliding gain and sliding surface slope. The learning algorithms of the two ANNs (equivalent and corrective controller) are obtained using the direct Lyapunov stability method. The simulation results are given to highlight the performances of the proposed control scheme.
This document appears to be contact information for Dirham Mulahid Al€alail Est., a general contracting company located in Saudi Arabia that provides various construction and maintenance services. It lists the company's name, address, commercial registration number, and several standard codes for types of equipment, systems, and requirements.
1. The document presents a suitable control structure for controlling a quad-rotor miniature aerial vehicle (MAV).
2. It first establishes a six degree of freedom dynamic model and control equations for the quad-rotor. Then, it proposes two control structures - a single loop structure and a double loop structure.
3. The double loop structure is needed to control all six coordinates (x, y, z positions and roll, pitch, yaw angles) to allow the quad-rotor to fly precisely point-to-point, while the single loop can only control height and stability. Simulation and experimental results demonstrate the effectiveness of the proposed structures.
This document appears to be a list of materials and equipment specifications for a construction project. It includes over 250 line items numbered 244 through 274, with an identification code beginning with "34-SAMSS-" followed by 3 digits. The line items seem to cover a wide range of equipment for construction, facilities maintenance, safety systems, valves, instrumentation, and control cabinets. The document also includes project details such as the client name and location in Riyadh, Saudi Arabia.
This document appears to be a list of project documents and engineering procedures for Saudi Aramco. It includes titles such as "Project Execution Plan", "Equipment Inspection Schedule", "Capital Project Benchmarking Guidelines", "Pipelines/Piping Hydraulic Surge Analysis", and "Environmental Performance Assessment (EPA) Program". The document provides titles and identification codes for over 20 engineering documents and procedures related to projects, facilities, and systems for Saudi Aramco.
CDR template revised Ver 3.1.1 presentationArya dash
The document outlines the agenda for a design review presentation for an Explorer balloon payload system called Team B. The presentation covers the systems engineering of the various subsystems that make up the payload including:
1) An overview of the mission to measure oxygen levels up to 7500m and satisfy small balloon regulations.
2) Designs for the sensor subsystem to measure oxygen, temperature, altitude and voltage.
3) A descent control system using parachutes to ensure a descent rate below 18m/s and kinetic energy below 40J on impact.
4) A mechanical structure made of polystyrene foam that houses the components and meets mass requirements.
5) Electrical subsystems including communications using a
The document provides technical specifications and operational details for the LISA-10 elevator controller:
- The LISA-10 uses a 32-bit microcontroller with 64kB RAM and 1024kB parameter memory. It includes a real-time clock, 4 serial ports, a keyboard-display, and controls relays for external outputs.
- The document discusses an IO board, car electronics, a LISA bus driver, examples of shaft learning and floor level adjustment processes.
- It also briefly outlines ride quality tuning using multi-speed commands and lists general elevator parameters that can be configured like travel times, input/output addresses, learning travel values, and special parameters.
Optimal and pid controller for controlling camera’s position in unmanned aeri...Zac Darcy
This paper describes two controllers designed specifically for adjusting camera’s position in a small unmanned aerial vehicle (UAV). The optimal controller was designed and first simulated by using MATLAB technique and the results displayed graphically, also PID controller was designedand simulatedby using MATLAB technique .The goal of this paper is to connect the tow controllers in cascade mode to obtain the desired performance and correction in camera’s position in both roll and pitch.
Fuzzy based control using labview for miso temperature processeSAT Journals
Abstract This project aims at designing and implementing a fuzzy controller for Multiple Input Single Output temperature process. Temperature control of water in the tank is achieved by varying current to the heating rod and inlet flow rate by a fuzzy controller. The system consists of a tank, reservoir, variable speed pump, temperature sensor placed inside a heating tank containing the heating rod, voltage controlled current source and computer. Water is pumped into the tank from reservoir and RTD measures the current temperature. The signal from the temperature sensor is sent to the DAQ interfaced to the computer. LabVIEW software is used to acquire the input signal and send the output signal that is determined by the control algorithm. Fuzzy logic controller is designed in LabVIEW. Based on the set point temperature, the controller sets the appropriate current to the heating rod. If the required temperature is less than that sensed by the temperature sensor, the flow rate of water into the tank is controlled by a variable speed pump. While conventional controllers are analytically described by a set of equations, the FLC is described by a knowledge-based algorithm. Thus this system is highly efficient in both heating and reducing the temperature of the tank. A fuzzy logic controller gives faster response, is more reliable and recovers quickly from system upsets. It also works well to uncertainties in the process variables and it does not require mathematical modelling.
DEVELOPMENT OF FUZZY LOGIC LQR CONTROL INTEGRATION FOR AERIAL REFUELING AUTOP...Ahmed Momtaz Hosny, PhD
This document summarizes research on integrating fuzzy logic control with linear quadratic regulator (LQR) control for an aerial refueling autopilot. It describes modeling an aircraft, applying LQR control alone and with fuzzy logic control integrated. The integrated LQR fuzzy control is shown to more effectively suppress uncertainties and minimize mission time compared to LQR alone. Key aspects covered include aircraft modeling, optimal LQR flight control, applying fuzzy inference systems, deriving fuzzy rules, and the integrated LQR fuzzy control structure applied to pitch and lateral control for aerial refueling simulations.
92% of teens go online daily, with 24% reporting they go online "almost constantly". 56% go online multiple times per day. Teens heavily use mobile devices, with 75% having a smartphone and 94% going online daily using mobile devices. The presentation provided information and resources on using various social media and technologies to maintain a virtual library presence, including websites, blogs, Facebook, Twitter, Instagram, Snapchat, Tumblr, Vine, YouTube, Remind, Smore, podcasts, Symbaloo, Padlet, PosterMyWall, Tellagami, Chatterpix, Prezi, SpicyNodes, and ToonDoo. Examples and links were given for most tools.
This document discusses the potential for a cargo carrier system called SALTO to provide independent space access for Italy. The key requirements are a minimum orbital life of 60 days, payload capacity over 100kg, and the ability to launch from aircraft to orbit within 3 days of alert. The document evaluates different aircraft options and selects the C130J as meeting the requirements. It defines the SALTO system components including the launch vehicle and deployment approach from the aircraft. Performance maps show the payload capacities for different orbital altitudes and inclinations. The implementation plan over 6 years includes developing demonstration models to test extraction from the aircraft. An example mission to Afghanistan is presented and found compatible with SALTO's capabilities.
Micro cam based on electrostatic comb drive actuatorslyPham70
The document describes a micro cam mechanism based on electrostatic comb-drive actuators. It consists of fixed electrodes, movable parts, and a movement transmission mechanism. Force analysis shows the minimum driving voltage required is 67.81V. Fabrication uses lithography, DRIE, and vapor HF etching on a silicon wafer. Testing showed the mechanism operated successfully, with the follower achieving 160μm of stroke at 80-100V driving voltage. Future work will aim to reduce the driving voltage and improve performance.
Effectiveness of Fast Speed Yaw and Roll Control Switching Instead of Normal ...AM Publications
In this paper, the effectiveness of new position control strategy - fast speed yaw and roll control switching method instead of the roll control only in Parrot AR Drone 4 rotor helicopter in horizontal plane for automatic fixed position flight was confirmed. General 4 rotor basic flight controller considers only simple floating control and does not concern the position control in the space, the AR Drone was also developed as realizing the floating control only and it is necessary to control the position by the user. Instead of a simple roll control, fast speed switching yaw and roll controls (plus pitch control) could realize stable automatic fixed position control comparing with the simple roll plus pitch controls in the horizontal plane. Proposed method reduced the AR Drone automatic fixed control within S.D. of x and y axis to 31.6% and 54.8% comparing with the normal roll plus pitch controls S.D. of x and y in 3.5 x 5 x 2.4 m room, and it will useful for hobby-class 4 rotor system's the aircraft position control in such a small room condition.
Stability Control of an Autonomous Quadcopter through PID Control LawIJERA Editor
In the recent years the world has seen a astonishing ascendance of non tripulated vehicles, and among these is the quadrotors aircrafts or quadcopters. These types of aircraft have been of particular interest due to its easy maneuverability in closed and open spaces and somewhat simplified dynamics. In these paper is presented an first attempt in the built model, to control the 4 DOF(Degrees of freedom) of an soon to be autonomous quadcopter through PID law in an controlled environment.
The document outlines Samuel Narcisse's portfolio of projects including control systems simulations and implementations using MATLAB and C++, robotics projects, coding projects, work experience in mechanical design, robotics coordination, and technical writing, and personal projects involving multicopters, satellites, parallel manipulators, and more. The projects demonstrate skills and experience in areas such as control systems, robotics, coding, CAD, simulation, instrumentation, and technical documentation.
Complete Coverage Navigation for Autonomous Clay Roller in Salt-Farming Appli...Norawit Nangsue`
This document summarizes a presentation about developing complete coverage navigation for an autonomous clay roller used in salt farming. It describes:
1) The basic salt farming process in Thailand and why smoothing fields is important.
2) How a clay roller is currently used manually to smooth fields.
3) The development of path planning and tracking algorithms to allow the clay roller to autonomously smooth fields with complete coverage. This includes algorithms for rear-steering bicycle kinematics, global path planning, local path tracking, and velocity control.
4) Test results showing the autonomous system achieved 97.3% coverage planning and 95.8% coverage in testing over 34 minutes.
Abstract This paper presents the design and implementation of a quadcopter capable of payload delivery. A quadcopter is a unique unmanned aerial vehicle which has the capability of vertical take-off and landing. In this design, the quadcopter was controlled wirelessly from a ground control station using radio frequency. It was modeled mathematically considering its attitude and altitude, and a simulation carried out in MATLAB by designing a proportional Integral Derivative (PID) controller was applied to a mathematical model. The PID controller parameters were then applied to the real system. Finally, the output of the simulation and the prototype were compared both in the presence and absence of disturbances. The results showed that the quadcopter was stable and able to compensate for the external disturbances.
Abstract This paper presents the design and implementation of a quadcopter capable of payload delivery. A quadcopter is a unique unmanned aerial vehicle which has the capability of vertical take-off and landing. In this design, the quadcopter was controlled wirelessly from a ground control station using radio frequency. It was modeled mathematically considering its attitude and altitude, and a simulation carried out in MATLAB by designing a proportional Integral Derivative (PID) controller was applied to a mathematical model. The PID controller parameters were then applied to the real system. Finally, the output of the simulation and the prototype were compared both in the presence and absence of disturbances. The results showed that the quadcopter was stable and able to compensate for the external disturbances.
study of yaw and pitch control in quad copter PranaliPatil76
This document describes an experimental study of yaw and pitch control in quadcopters. It discusses how quadcopters use independent variation of rotor speeds to control pitch, roll, and yaw. Yaw control is achieved by varying the net torque on the quadcopter by increasing the thrust of rotors spinning in one direction compared to the other. Pitch control is achieved by varying the net center of thrust. The document provides equations for calculating torque and describes how adjusting rotor thrusts can cause the quadcopter to yaw or rotate in different directions.
DUAL NEURAL NETWORK FOR ADAPTIVE SLIDING MODE CONTROL OF QUADROTOR HELICOPTER...ijistjournal
An adaptive sliding mode control based on two neural networks is proposed in this paper for Quadrotor stabilization. This approach presents solutions to conventional control drawbacks as chattering phenomenon and dynamical model imprecision. For that reason two ANN for each quadrotor helicopter subsystem are implemented in the control loop, the first one is a Single Hidden Layer network used to approximate on line the equivalent control and the second feed-forward Network is used to estimate the ideal corrective term. The main purpose behind the use of ANN in the second part of SMC is to minimize the chattering phenomena and response time by finding optimal sliding gain and sliding surface slope. The learning algorithms of the two ANNs (equivalent and corrective controller) are obtained using the direct Lyapunov stability method. The simulation results are given to highlight the performances of the proposed control scheme.
This document appears to be contact information for Dirham Mulahid Al€alail Est., a general contracting company located in Saudi Arabia that provides various construction and maintenance services. It lists the company's name, address, commercial registration number, and several standard codes for types of equipment, systems, and requirements.
1. The document presents a suitable control structure for controlling a quad-rotor miniature aerial vehicle (MAV).
2. It first establishes a six degree of freedom dynamic model and control equations for the quad-rotor. Then, it proposes two control structures - a single loop structure and a double loop structure.
3. The double loop structure is needed to control all six coordinates (x, y, z positions and roll, pitch, yaw angles) to allow the quad-rotor to fly precisely point-to-point, while the single loop can only control height and stability. Simulation and experimental results demonstrate the effectiveness of the proposed structures.
This document appears to be a list of materials and equipment specifications for a construction project. It includes over 250 line items numbered 244 through 274, with an identification code beginning with "34-SAMSS-" followed by 3 digits. The line items seem to cover a wide range of equipment for construction, facilities maintenance, safety systems, valves, instrumentation, and control cabinets. The document also includes project details such as the client name and location in Riyadh, Saudi Arabia.
This document appears to be a list of project documents and engineering procedures for Saudi Aramco. It includes titles such as "Project Execution Plan", "Equipment Inspection Schedule", "Capital Project Benchmarking Guidelines", "Pipelines/Piping Hydraulic Surge Analysis", and "Environmental Performance Assessment (EPA) Program". The document provides titles and identification codes for over 20 engineering documents and procedures related to projects, facilities, and systems for Saudi Aramco.
CDR template revised Ver 3.1.1 presentationArya dash
The document outlines the agenda for a design review presentation for an Explorer balloon payload system called Team B. The presentation covers the systems engineering of the various subsystems that make up the payload including:
1) An overview of the mission to measure oxygen levels up to 7500m and satisfy small balloon regulations.
2) Designs for the sensor subsystem to measure oxygen, temperature, altitude and voltage.
3) A descent control system using parachutes to ensure a descent rate below 18m/s and kinetic energy below 40J on impact.
4) A mechanical structure made of polystyrene foam that houses the components and meets mass requirements.
5) Electrical subsystems including communications using a
The document provides technical specifications and operational details for the LISA-10 elevator controller:
- The LISA-10 uses a 32-bit microcontroller with 64kB RAM and 1024kB parameter memory. It includes a real-time clock, 4 serial ports, a keyboard-display, and controls relays for external outputs.
- The document discusses an IO board, car electronics, a LISA bus driver, examples of shaft learning and floor level adjustment processes.
- It also briefly outlines ride quality tuning using multi-speed commands and lists general elevator parameters that can be configured like travel times, input/output addresses, learning travel values, and special parameters.
Optimal and pid controller for controlling camera’s position in unmanned aeri...Zac Darcy
This paper describes two controllers designed specifically for adjusting camera’s position in a small unmanned aerial vehicle (UAV). The optimal controller was designed and first simulated by using MATLAB technique and the results displayed graphically, also PID controller was designedand simulatedby using MATLAB technique .The goal of this paper is to connect the tow controllers in cascade mode to obtain the desired performance and correction in camera’s position in both roll and pitch.
Fuzzy based control using labview for miso temperature processeSAT Journals
Abstract This project aims at designing and implementing a fuzzy controller for Multiple Input Single Output temperature process. Temperature control of water in the tank is achieved by varying current to the heating rod and inlet flow rate by a fuzzy controller. The system consists of a tank, reservoir, variable speed pump, temperature sensor placed inside a heating tank containing the heating rod, voltage controlled current source and computer. Water is pumped into the tank from reservoir and RTD measures the current temperature. The signal from the temperature sensor is sent to the DAQ interfaced to the computer. LabVIEW software is used to acquire the input signal and send the output signal that is determined by the control algorithm. Fuzzy logic controller is designed in LabVIEW. Based on the set point temperature, the controller sets the appropriate current to the heating rod. If the required temperature is less than that sensed by the temperature sensor, the flow rate of water into the tank is controlled by a variable speed pump. While conventional controllers are analytically described by a set of equations, the FLC is described by a knowledge-based algorithm. Thus this system is highly efficient in both heating and reducing the temperature of the tank. A fuzzy logic controller gives faster response, is more reliable and recovers quickly from system upsets. It also works well to uncertainties in the process variables and it does not require mathematical modelling.
DEVELOPMENT OF FUZZY LOGIC LQR CONTROL INTEGRATION FOR AERIAL REFUELING AUTOP...Ahmed Momtaz Hosny, PhD
This document summarizes research on integrating fuzzy logic control with linear quadratic regulator (LQR) control for an aerial refueling autopilot. It describes modeling an aircraft, applying LQR control alone and with fuzzy logic control integrated. The integrated LQR fuzzy control is shown to more effectively suppress uncertainties and minimize mission time compared to LQR alone. Key aspects covered include aircraft modeling, optimal LQR flight control, applying fuzzy inference systems, deriving fuzzy rules, and the integrated LQR fuzzy control structure applied to pitch and lateral control for aerial refueling simulations.
92% of teens go online daily, with 24% reporting they go online "almost constantly". 56% go online multiple times per day. Teens heavily use mobile devices, with 75% having a smartphone and 94% going online daily using mobile devices. The presentation provided information and resources on using various social media and technologies to maintain a virtual library presence, including websites, blogs, Facebook, Twitter, Instagram, Snapchat, Tumblr, Vine, YouTube, Remind, Smore, podcasts, Symbaloo, Padlet, PosterMyWall, Tellagami, Chatterpix, Prezi, SpicyNodes, and ToonDoo. Examples and links were given for most tools.
The document provides an overview of the requirements for lead in plumbing products under the Safe Drinking Water Act and the Reduction of Lead in Drinking Water Act. Key points include that as of January 2014, the maximum allowable lead content was lowered to 0.25% for pipes, fittings, and other plumbing products that convey water for human consumption. States are responsible for enforcing these requirements, often through building and plumbing codes. The role of code officials is to ensure compliant products are installed and help identify approved products, which have varying certification standards between manufacturers.
The document summarizes research into developing a gold nanoparticle-based drug delivery system that can selectively release two different anticancer agents in response to near-infrared irradiation. The system conjugates polyethylene glycol and two differently tagged double-stranded DNA sequences to ~20nm gold nanoparticles. It is proposed that altering near-infrared exposure can modulate the delivery of the two agents by exploiting the unique melting temperatures of the DNA sequences. However, difficulties were encountered in quantifying the attachment and release of the fluorescent tags due to the reducing agent used also reducing one of the fluorescent tags. Future work will explore alternative methods to enhance characterization and control over the system.
Una pequeña recopilación y selección de información sobre el tema de el sistema aduanero en México, seccionando los puntos más importantes y básicos a mí criterio.
Similar to Development of a Customized Autopilot for Unmanned Helicopter Model Using Genetic Algorithm via the Application of Different Guidance Strategies
A Comparison Study between Inferred State-Space and Neural Network Based Syst...Ahmed Momtaz Hosny, PhD
In this paper, system identifications of an unmanned aerial vehicle (UAV) based on inferred state space and multiple neural networks were presented. In this work an optimization approach was used to conclude an inferred state space and the multiple neural networks system identifications based on the genetic algorithms separately. The UAV is a multi-input multi-output (MIMO) nonlinear system. Models for such MIMO system are expected to be adaptive to dynamic behavior and robust to environment.
Optimal and Pid Controller for Controlling Camera's Position InUnmanned Aeria...Zac Darcy
This paper describes two controllers designed specifically for adjusting camera’s position in a small
unmanned aerial vehicle (UAV). The optimal controller was designed and first simulated by using
MATLAB technique and the results displayed graphically, also PID controller was designedand
simulatedby using MATLAB technique .The goal of this paper is to connect the tow controllers in cascade
mode to obtain the desired performance and correction in camera’s position in both roll and pitch.
ENHANCED DATA DRIVEN MODE-FREE ADAPTIVE YAW CONTROL OF UAV HELICOPTERijcisjournal
An enhanced data driven model-free adaptive yaw control tracking control scheme is proposed for the yaw channel of an unmanned-aerial-vehicle (UAV) helicopter which is non-affine in the control input in this paper. Through dynamic linearization and observer techniques, the proposed control algorithm is only based on the pseudo-partial derivative (PPD) parameter estimation derived online from the I/O data of the yaw channel of an UAV helicopter, and Lyapunov-based stability analysis is utilized to prove all signals of close-loop control system are bounded. Compared with the traditional model free adaptive control (MFAC), the proposed enhanced MFAC algorithm can make the close-loop control system with stronger robustness and better anti-jamming ability. Finally, simulation results of the UAV yaw channel are offered to demonstrate the effectiveness of the proposed novel control technique.
PID vs LQR controller for tilt rotor airplane IJECEIAES
This document summarizes and compares PID and LQR control strategies for controlling the maneuvers of a tilt rotor airplane. Multiple attitude and altitude PID controllers were used to control a simplified linear model, but this did not account for all coupling between degrees of freedom. An LQR controller was also adopted to provide a more feasible solution for complex maneuvering, though both controllers require linearization of the model. The mathematical modeling section describes the rigid body equations of motion for the tri-tilt rotor configuration in body and earth frames using Newton-Euler formalism. Control of attitudes, positions and transitions between helicopter and airplane modes are discussed.
Real Time Implementation of Fuzzy Adaptive PI-sliding Mode Controller for Ind...IJECEIAES
In this work, a fuzzy adaptive PI-sliding mode control is proposed for Induction Motor speed control. First, an adaptive PI-sliding mode controller with a proportional plus integral equivalent control action is investigated, in which a simple adaptive algorithm is utilized for generalized soft-switching parameters. The proposed control design uses a fuzzy inference system to overcome the drawbacks of the sliding mode control in terms of high control gains and chattering to form a fuzzy sliding mode controller. The proposed controller has implemented for a 1.5kW three-Phase IM are completely carried out using a dSPACE DS1104 digital signal processor based real-time data acquisition control system, and MATLAB/Simulink environment. Digital experimental results show that the proposed controller can not only attenuate the chattering extent of the adaptive PI-sliding mode controller but can provide high-performance dynamic characteristics with regard to plant external load disturbance and reference variations.
Elevation, pitch and travel axis stabilization of 3DOF helicopter with hybrid...IJECEIAES
This research work introduces an efficient hybrid control methodology through combining the traditional proportional-integral-derivative (PID) controller and linear quadratic regulator (LQR) optimal controlher. The proposed hybrid control approach is adopted to design three degree of freedom (3DOF) stabilizing system for helicopter. The gain parameters of the classic PID controller are determined using the elements of the LQR feedback gain matrix. The dynamic behaviour of the LQR based PID controller, is modeled in state space form to enable utlizing state feedback controller technique. The performance of the proposed LQR based LQR controller is improved by using Genetic Algorithm optimization method which are adopted to obtain optimum values for LQR controller gain parameters. The LQR-PID hybrid controller is simulated using Matlab environment and its performance is evaluated based on rise time, settling time, overshoot and steady state error parameters to validate the proposed 3DOF helicopter balancing system. Based on GA tuning approach, the simulation results suggest that the hybrid LQR-PID controller can be effectively employed to stabilize the 3DOF helicopter system.
Thrust vector controlled (tcv) rocket modelling using lqr controllerMrinal Harsh
Design and state space modelling of a TCV Rocket using Simulink and Matlab with Gimbal Angle, Angular Velocity and Drift experienced as our control parameters.
- Using LQR control to stabilize the model.
- Support why LQR is used over PID control for TCV Modelling.
Modeling and Control of a Spherical Rolling Robot Using Model Reference Adapt...IRJET Journal
The document describes modeling and control of a spherical rolling robot using model reference adaptive control (MRAC). It presents the mathematical model developed for the robot based on its nonholonomic constraints. MRAC is used to control the robot by adjusting controller parameters to minimize the error between the robot's actual output and the output of a reference model for ideal behavior. Simulation results show the proposed MRAC scheme eliminates steady state error and improves transient response without requiring knowledge of the robot's dynamic equations.
Neural Network Control Based on Adaptive Observer for Quadrotor HelicopterIJITCA Journal
A neural network control scheme with an adaptive observer is proposed in this paper to Quadrotor helicopter stabilization. The unknown part in Quadrotor dynamical model was estimated on line by a
Single Hidden Layer network. To solve the non measurable states problem a new adaptive observer was proposed. The main purpose here is to reduce the measurement noise amplification caused by conventional
high gain observer by introducing some changes in observer’s original structure that can minimize the variance and the amplitude of the noisy signal without increasing tracking error. The stability analysis of the overall closed-loop system/ observer is performed using the Lyapunov direct method. Simulation results are given to highlight the performances of the proposed scheme.
The active suspension system with hydraulic actuator for half car model analy...eSAT Publishing House
This document describes the design and simulation of an active suspension system with a hydraulic actuator for a half car model. A PID controller is designed and tuned using three different methods - heuristic tuning, Ziegler-Nichols tuning, and iterative learning algorithm tuning. The half car model and hydraulic actuator are modeled and simulated in MATLAB Simulink. Simulation results show that the PID controller tuned with the iterative learning algorithm provides the best ride quality performance compared to the other tuning methods or a passive suspension, reducing the body displacement under various road disturbances.
MODELING AND DESIGN OF CRUISE CONTROL SYSTEM WITH FEEDFORWARD FOR ALL TERRIAN...csandit
This paper presents PID controller with feed-forward control. The cruise control system is one
of the most enduringly popular and important models for control system engineering. The
system is widely used because it is very simple to understand and yet the control techniques
cover many important classical and modern design methods. In this paper, the mathematical
modeling for PID with feed-forward controller is proposed for nonlinear model with
disturbance effect. Feed-forward controller is proposed in this study in order to eliminate the
gravitational and wind disturbance effect. Simulation will be carried out . Finally, a C++
program written and feed to the microcontroller type AMR on our robot
Neural Network Control Based on Adaptive Observer for Quadrotor HelicopterIJITCA Journal
A neural network control scheme with an adaptive observer is proposed in this paper to Quadrotor helicopter stabilization. The unknown part in Quadrotor dynamical model was estimated on line by a Single Hidden Layer network. To solve the non measurable states problem a new adaptive observer was proposed. The main purpose here is to reduce the measurement noise amplification caused by conventional high gain observer by introducing some changes in observer’s original structure that can minimize the variance and the amplitude of the noisy signal without increasing tracking error. The stability analysis of the overall closed-loop system/ observer is performed using the Lyapunov direct method. Simulation results are given to highlight the performances of the proposed scheme
1. The document describes the process of identifying key parameters for modelling a quadrotor drone.
2. Two custom test rigs were designed to measure the thrust coefficient, torque coefficient, and throttle command relation parameters.
3. Tests were conducted to determine values for the thrust coefficient, torque coefficient, throttle command relation, motor time constant, and mass moments of inertia for different quadrotor components.
4. The identified parameters will be used to accurately represent the quadrotor in simulations for controller design and evaluation.
Robust second order sliding mode control for a quadrotor considering motor dy...ijctcm
In this paper, a robust second order sliding mode control (SMC) for controlling a quadrotor with uncertain
parameters presented based on high order sliding mode control (HOSMC). A controller based on the
HOSMC technique is designed for trajectory tracking of a quadrotor helicopter with considering motor
dynamics. The main subsystems of quadrotor (i.e. position and attitude) stabilized using HOSMC method.
The performance and effectiveness of the proposed controller are tested in a simulation study taking into
account external disturbances with consider to motor dynamics. Simulation results show that the proposed
controller eliminates the disturbance effect on the position and attitude subsystems efficiency that can be
used in real time applications.
Robust Second Order Sliding Mode Control for A Quadrotor Considering Motor Dy...ijctcm
This document presents a robust second order sliding mode control approach for controlling the position and attitude of a quadrotor helicopter that considers motor dynamics. A nonlinear dynamic model of the quadrotor is developed that includes motor dynamics. Based on this model, a controller is designed using higher order sliding mode control techniques to independently control the altitude, longitudinal, latitudinal, and heading motions of the quadrotor. Simulation results show that the proposed controller is effective at eliminating disturbances and can be used for real-time applications.
Robust Second Order Sliding Mode Control for A Quadrotor Considering Motor Dy...ijctcm
In this paper, a robust second order sliding mode control (SMC) for controlling a quadrotor with uncertain parameters presented based on high order sliding mode control (HOSMC). A controller based on the HOSMC technique is designed for trajectory tracking of a quadrotor helicopter with considering motor dynamics. The main subsystems of quadrotor (i.e. position and attitude) stabilized using HOSMC method. The performance and effectiveness of the proposed controller are tested in a simulation study taking into account external disturbances with consider to motor dynamics. Simulation results show that the proposed controller eliminates the disturbance effect on the position and attitude subsystems efficiency that can be used in real time applications.
Hexacopter using MATLAB Simulink and MPU SensingIRJET Journal
This document describes the modeling and control of a hexacopter unmanned aerial vehicle using MATLAB simulation. It presents the mathematical modeling of the hexacopter dynamics using Newton-Euler angles and reference frames. PID controllers are developed for altitude, roll, pitch and yaw control. The rotor speeds required for thrust and attitude control are calculated from the PID outputs. Simulation parameters are provided and the results obtained from implementing the PID controllers on the hexacopter model in MATLAB are presented.
Analytical Evaluation of Generalized Predictive Control Algorithms Using a Fu...inventy
Research Inventy : International Journal of Engineering and Science is published by the group of young academic and industrial researchers with 12 Issues per year. It is an online as well as print version open access journal that provides rapid publication (monthly) of articles in all areas of the subject such as: civil, mechanical, chemical, electronic and computer engineering as well as production and information technology. The Journal welcomes the submission of manuscripts that meet the general criteria of significance and scientific excellence. Papers will be published by rapid process within 20 days after acceptance and peer review process takes only 7 days. All articles published in Research Inventy will be peer-reviewed.
IJERD (www.ijerd.com) International Journal of Engineering Research and Devel...IJERD Editor
This document summarizes a research paper that proposes a new design methodology for a roll position demand autopilot for guided missiles. The design is based on state feedback using Ackermann pole placement and a reduced order observer. The open-loop unstable roll control model is stabilized using state feedback and pole placement. Actuator dynamics are included. Simulation results show the new design significantly improves responses over previous frequency domain designs by eliminating overshoots and reducing maximum roll rates and aileron deflections. A reduced order Das & Ghosal observer is used to estimate unmeasurable states like aileron angle and rate.
Adaptive Fuzzy Integral Sliding-Mode Regulator for Induction Motor Using Nonl...IJPEDS-IAES
An adaptive fuzzy integral sliding-mode controller using nonlinear sliding surface is designed for the speed regulator of a field-oriented induction motor drive in this paper. Combining the conventional integral sliding surface with fractional-order integral, a nonlinear sliding surface is proposed for the integral sliding-mode speed control, which can overcome the windup problem and the convergence speed problem. An adaptive fuzzy control term is utilized to approximate the uncertainty. The stability of the controller is analyzed by Lyapunov stability theory. The effectiveness of the proposed speed regulator is demonstrated by the simulation results in comparison with the conventional integral sliding-mode controller based on boundary layer.
Similar to Development of a Customized Autopilot for Unmanned Helicopter Model Using Genetic Algorithm via the Application of Different Guidance Strategies (20)
Ahmed Momtaz Ahmed Hosny is an Egyptian aerospace engineer and manager. He received his PhD in aircraft dynamics and control from Beihang University in China. He has over 25 years of experience in aircraft maintenance, design, and management. Currently, he is the General Manager of Instrumentation and Control at Abu Zaabal for Fertilizers and Chemicals Company in Egypt, where he oversees maintenance, procurement, training, and projects. He has published several papers on control systems for aircraft and unmanned aerial vehicles.
This document provides an overview of engineering mechanics statics. It covers topics including:
- Defining mechanics as the science dealing with bodies at rest or in motion under forces.
- Dividing mechanics into statics, dynamics, and other subfields. Statics deals with bodies at rest.
- Introducing fundamental concepts of forces, units of measurement, and representing forces as vectors that add according to the parallelogram law.
- Providing examples of adding forces graphically using the parallelogram law and triangle rule to determine the resultant force.
- Discussing problems involving determining the magnitude and direction of resultant forces from multiple forces acting on structures, stakes, and brackets
Matlab codes for Sizing and Calculating the Aircraft Stability & PerformanceAhmed Momtaz Hosny, PhD
Matlab codes for Sizing and Calculating the Aircraft Stability & Performance, with the knowledge of the DATCOM Results. (Simple and rapid way to analyze and evaluate the aircraft performance)
Inferring the Optimum UAV's Trajectories Configuration Over Definite Intruder...Ahmed Momtaz Hosny, PhD
Inferring the Optimum UAV's Trajectories Configuration Over Definite Intruder Paths with Multiple Random Starting Points Via Genetic Algorithm - Taking into consideration a set of synchronized UAV's - (Provided with the relevant Matlab Code).
This document provides an overview and summary of a thesis that investigates fuzzy logic LQR control integration for full mission multistage aerial refueling autopilot. It begins with acknowledgments and then provides an abstract that describes investigating LQR control alone and integrating it with fuzzy control. It indicates the control strategy was applied to two aerial refueling methods and MATLAB simulations showed the validity and efficiency of the proposed control approach. The document includes chapters that cover literature reviews on controller types, aircraft modeling and linearization, linear quadratic regulation, intelligent learning of fuzzy logic controllers via genetic algorithm, design of a fighter flight formation autopilot for aerial refueling, and control strategy implementation methodology. It concludes with summaries of results from each stage of
The document discusses the benefits of exercise for mental health. Regular physical activity can help reduce anxiety and depression and improve mood and cognitive function. Exercise causes chemical changes in the brain that may help protect against mental illness and improve symptoms.
Development of Fuzzy Logic LQR Control Integration for Full Mission Multistag...Ahmed Momtaz Hosny, PhD
This work investigates the performance on the aircraft control system during air refuel purposes of the Linear Quadratic Regulator (LQR) control alone, and the integration between fuzzy control and LQR. LQR is modern linear control that is suitable for multivariable state feedback and is known to yield good performance for linear systems or for nonlinear systems where the nonlinear aspects are presented. The fuzzy control is known to have the ability to deal with nonlinearities without having to use advanced mathematics. The LQR integrated fuzzy control (LQRIFC) simultaneously makes use of the good performance of the LQR in the region close to switching curve, and the effectiveness of the fuzzy control in region away from switching curve. A new analysis of the fuzzy system behavior presented helps to make possible precise integration of LQR features into the fuzzy control. The LQRIFC is verified by simulation to suppress the uncertain instability more effectively than the LQR alone besides minimizing the time of the mission proposed. The aerial refueling process has been divided into 3 basic stages (initial stability stage, tracking stage, alignment stage) to meet all the process requirements and constraints with minimizing the whole mission time period. GA has been used to tune the fuzzy logic controller parameters and some PID’s. The control strategy was applied to both aerial refueling methods. And the MATLAB simulation results show the validity and the efficiency of using the proposed control approach.
Development of Fuzzy Logic LQR Control Integration for Full Mission Multistag...Ahmed Momtaz Hosny, PhD
This work investigates the performance on the aircraft control system during air refuel purposes of the Linear Quadratic Regulator (LQR) control alone, and the integration between fuzzy control and LQR. LQR is modern linear control that is suitable for multivariable state feedback and is known to yield good performance for linear systems or for nonlinear systems where the nonlinear aspects are presented. The fuzzy control is known to have the ability to deal with nonlinearities without having to use advanced mathematics. The LQR integrated fuzzy control (LQRIFC) simultaneously makes use of the good performance of the LQR in the region close to switching curve, and the effectiveness of the fuzzy control in region away from switching curve. A new analysis of the fuzzy system behavior presented helps to make possible precise integration of LQR features into the fuzzy control. The LQRIFC is verified by simulation to suppress the uncertain instability more effectively than the LQR alone besides minimizing the time of the mission proposed. The aerial refueling process has been divided into 3 basic stages (initial stability stage, tracking stage, alignment stage) to meet all the process requirements and constraints with minimizing the whole mission time period. GA has been used to tune the fuzzy logic controller parameters and some PID’s. The control strategy was applied to both aerial refueling methods. And the MATLAB simulation results show the validity and the efficiency of using the proposed control approach.
DEVELOPMENT OF A NEUROFUZZY CONTROL SYSTEM FOR THE GUIDANCE OF AIR ...Ahmed Momtaz Hosny, PhD
ABSTRACT
In recent years, there has been an increasing interest in the fusion of neural networks and fuzzy logic specially in missile control problems. A technique for the preliminary design of a control system is presented using a neurofuzzy approach for a highly nonlinear MIMO 5_DOF AIM 9R model. The model reflects cross coupling effects between the longitudinal and lateral motions. Two neural network controllers are used for the low level control of each motion separately. The control effort of these networks is then blended by a fuzzy logic controller to obtain the overall control action.The fuzzy controller which is a Mamdani type inference system has 25 rule base designed to cope with model uncertainties specially in cross coupling between lateral and longitudinal motions. A computer simulation is performed to compare between various control techniques. The result showed the effectiveness of the hybrid system compared to other control strategies where fuzzy systems or neural networks are used separately.
DEVELOPMENT OF NEUROFUZZY CONTROL SYSTEM FOR THE GUIDANCE OF AIR TO AIR MISS...Ahmed Momtaz Hosny, PhD
This document summarizes a thesis on developing a neurofuzzy control system for guiding air-to-air missiles. It includes sections on AIM 9 missile modeling, control strategies using neural networks and fuzzy logic, computer simulations, and conclusions. Control strategies include using neural networks, fuzzy logic, and a hybrid neurofuzzy system. Comparisons are made between different controller types using integrated square error. The thesis recommends applying the control techniques practically and optimizing guidance based on predicted target maneuver data.
A Comparison Study between Inferred State-Space and Neural Network Based Syst...Ahmed Momtaz Hosny, PhD
Dr. Ahmed M. Hosny presents a study comparing system identification methods for modeling an unmanned helicopter using inferred state-space modeling and neural networks. An optimization approach using genetic algorithms was used to determine the system models. The inferred state-space approach was found to be easier, more stable, and produced a better performing model compared to the multi-network neural network approach. Testing showed the inferred state-space model had a lower performance index value compared to the actual system, indicating better accuracy.
DEVELOPMENT OF A NEUROFUZZY CONTROL SYSTEM FOR THE GUIDANCE OF AIR TO AIR MIS...Ahmed Momtaz Hosny, PhD
This document describes the development of a neurofuzzy control system for guiding air-to-air missiles. The system uses two neural network controllers to control the longitudinal and lateral motions separately. A fuzzy logic controller then blends the outputs of the neural networks to obtain the overall control action. The fuzzy controller has a 25 rule base to handle uncertainties from cross-coupling between the motions. Simulation results showed the neurofuzzy hybrid system performed better than using just neural networks or fuzzy systems alone for control.
The document discusses the benefits of exercise for mental health. Regular physical activity can help reduce anxiety and depression and improve mood and cognitive function. Exercise causes chemical changes in the brain that may help protect against mental illness and improve symptoms for those who already suffer from conditions like anxiety and depression.
Architectural and constructions management experience since 2003 including 18 years located in UAE.
Coordinate and oversee all technical activities relating to architectural and construction projects,
including directing the design team, reviewing drafts and computer models, and approving design
changes.
Organize and typically develop, and review building plans, ensuring that a project meets all safety and
environmental standards.
Prepare feasibility studies, construction contracts, and tender documents with specifications and
tender analyses.
Consulting with clients, work on formulating equipment and labor cost estimates, ensuring a project
meets environmental, safety, structural, zoning, and aesthetic standards.
Monitoring the progress of a project to assess whether or not it is in compliance with building plans
and project deadlines.
Attention to detail, exceptional time management, and strong problem-solving and communication
skills are required for this role.
Development of a Customized Autopilot for Unmanned Helicopter Model Using Genetic Algorithm via the Application of Different Guidance Strategies
1. Paper: ASAT-14-008-US
14th
International Conference on
AEROSPACE SCIENCES & AVIATION TECHNOLOGY,
ASAT - 14 – May 24 - 26, 2011, Email: asat@mtc.edu.eg
Military Technical College, Kobry Elkobbah, Cairo, Egypt
Tel: +(202) 24025292 –24036138, Fax: +(202) 22621908
1
Development of a Customized Autopilot for Unmanned Helicopter
Model Using Genetic Algorithm via the Application of Different
Guidance Strategies
A. Hosny*
, M. Hosny†
, and H. Ez-Eldeen‡
Abstract: The objective of this paper is to develop a customized autopilot system that enables
a helicopter model to carry out an autonomous flight using on-board microcontroller. The
main goal of this project is to provide a comprehensive controller design methodology,
Modeling, simulation, guidance and verification for an unmanned helicopter model. The
autopilot system was designed to demonstrate autonomous maneuvers such as flying over the
planned waypoints with constant forward speed and considerable steep maneuvers. For the
controller design, the nonlinear dynamic model of the Remote Control helicopter was built by
employing Lumped Parameter approach comprising of four different subsystems such as
actuator dynamics, rotary wing dynamics, force and moment generation process and rigid
body dynamics. The nonlinear helicopter mathematical model was then linearized using small
perturbation theory for stability analysis and linear feedback control system design. The linear
state feedback for the stabilization and control of the helicopter was derived using Pole
Placement Method. The overall dynamic system control with output feedback was computed
using Genetic Algorithm. Series of Matlab-Simulink models and guidance algorithms were
presented in this work to simulate and verify the autopilot system performance. The proposed
autopilot has shown acceptable capability of stabilizing and controlling the helicopter during
tracking the desired waypoints. This paper is presenting a detailed comparison study for two
different guidance strategies. The first strategy is concerning the difference between the
desired heading or elevation referred to the next waypoint and the actual heading or elevation
of the unmanned helicopter model. The second strategy is concerning the relative distance
between the actual and the desired trajectories. In other words the first method is tracking the
waypoints while the second one is tracking the trajectory. In this work a comparison study
was conducted through the mentioned strategies simulation to show the significant differences
in the output performance. Some performance indexes were presented to evaluate the system
performance errors and the control effort needed for both strategies using the same desired
trajectory and the same waypoints.
Keywords: UAH unmanned aerial helicopter, RC Remote Control, PPM Pole Placement
Method, GA Genetic Algorithm, DTCS Desired Trajectory Current Segment, WPTM
Waypoint Tracking Method. TTM Trajectory Tracking Method, WPTM Waypoint Tracking
Method, Jerk, FFR Fixed Frame of Reference, BFR Body Frame of Reference.
*
Egyptian Armed Forces, Egypt, ahmed160771@yahoo.com
†
Egyptian Armed Forces, Egypt, mbmomtaz@hotmail.com
‡
Egyptian Armed Forces, Egypt, hesham.ez@gmail.com
2. Paper: ASAT-14-008-US
2
1. Helicopter Model
Helicopter dynamics obey the Newton-Euler equations for rigid body in translational and
rotational motions. The helicopter dynamics can be studied by employing lumped parameter
approach which presents that the helicopter model shown in Fig. 1 as a composition of following
components; main rotor, tail rotor, fuselage, horizontal bar and vertical bar. Figure 2 illustrates
typical arrangement of component forces and moments generated in helicopter simulation model,
[1, 2].
Fig. 1 Raptor 90 (15 cc Engine)
Forces equations:
𝒖𝒖̇ = −(𝒘𝒘𝒘𝒘 − 𝒗𝒗𝒗𝒗) +
𝑿𝑿
𝒎𝒎
− 𝒈𝒈𝒈𝒈𝒈𝒈 𝒈𝒈 𝒈𝒈
(1)
𝒗𝒗̇ = −(𝒖𝒖𝒖𝒖 − 𝒘𝒘𝒘𝒘) +
𝒀𝒀
𝒎𝒎
+ 𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈 𝒈𝒈 𝒈𝒈
(2)
𝒘𝒘̇ = −(𝒗𝒗𝒗𝒗 − 𝒖𝒖𝒖𝒖) +
𝒁𝒁
𝒎𝒎
+ 𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈
(3)
Moment equations:
𝑰𝑰𝒙𝒙𝒙𝒙 𝒑𝒑̇ = �𝑰𝑰𝒚𝒚𝒚𝒚 − 𝑰𝑰𝒛𝒛𝒛𝒛�𝒒𝒒𝒒𝒒 + 𝑰𝑰𝒙𝒙𝒙𝒙(𝒓𝒓̇ + 𝒑𝒑𝒑𝒑) + 𝑳𝑳 (4)
𝑰𝑰𝒚𝒚𝒚𝒚 𝒒𝒒̇ = (𝑰𝑰𝒛𝒛𝒛𝒛 − 𝑰𝑰𝒙𝒙𝒙𝒙)𝒓𝒓𝒓𝒓 + 𝑰𝑰𝒙𝒙𝒙𝒙(𝒓𝒓𝟐𝟐
− 𝒑𝒑𝟐𝟐) + 𝑴𝑴 (5)
𝑰𝑰𝒛𝒛𝒛𝒛 𝒓𝒓̇ = �𝑰𝑰𝒙𝒙𝒙𝒙 − 𝑰𝑰𝒚𝒚𝒚𝒚�𝒑𝒑𝒑𝒑 + 𝑰𝑰𝒙𝒙𝒙𝒙(𝒑𝒑̇ − 𝒒𝒒𝒒𝒒) + 𝑵𝑵 (6)
Kinematic equations:
𝝋𝝋̇ = 𝒑𝒑 + 𝒒𝒒𝒒𝒒𝒒𝒒𝒒𝒒𝒒𝒒𝒒𝒒𝒒𝒒𝒒𝒒𝒒𝒒 + 𝒓𝒓𝒓𝒓𝒓𝒓𝒓𝒓𝒓𝒓𝒓𝒓𝒓𝒓𝒓𝒓𝒓𝒓 (7)
𝜽𝜽̇ = 𝒒𝒒𝒒𝒒𝒒𝒒𝒒𝒒𝒒𝒒 − 𝒓𝒓𝒓𝒓𝒓𝒓𝒓𝒓𝒓𝒓 (8)
𝜳𝜳̇ = 𝒒𝒒𝒒𝒒𝒒𝒒𝒒𝒒𝒒𝒒𝒒𝒒𝒒𝒒𝒒𝒒𝒒𝒒 + 𝒓𝒓𝒓𝒓𝒓𝒓𝒔𝒔𝒔𝒔𝒔𝒔𝒔𝒔𝒔𝒔𝒔𝒔 (9)
The physical helicopter parameters used for the model (Raptor 90) are given in Table 1.
3. Paper: ASAT-14-008-US
3
Table 1 Parameters of Raptor 90 helicopter for simulation model
Parameter Description
ρ = 1.225 kg/m3
Atmosphere density
m = 7.70 kg Helicopter mass
Ixx = 0.192 kg m2
Rolling moment of inertia
Iyy = 0.34 kg m2
Pitching moment of inertia
Izz = 0.280 kg m2
Yawing moment of inertia
Ωnom = 162 rad/s Nominal main rotor speed
RM = 0.775 m Main rotor radius
RCR = 0.370 m Stabilizer bar radius
CM = 0.058 m Main rotor chord
CCR = 0.06 m Stabilizer bar chord
aM = 5.5 rad-1
Main rotor blade lift curve slope
𝐶𝐶𝐷𝐷𝐷𝐷
𝑀𝑀
=0.024 Main rotor blade zero lift drag coefficient
𝑪𝑪𝑻𝑻𝑻𝑻𝑻𝑻𝑻𝑻
𝑴𝑴
=0.00168 Main rotor max thrust coefficient
Iβ = 0.038 kg m2
Main rotor blade flapping inertia
RT = 0.13 m Tail rotor radius
CT = 0.029 m Tail rotor chord
aT = 5.0 rad-1
Tail rotor blade lift curve slope
𝑪𝑪𝑫𝑫𝑫𝑫
𝑻𝑻
=0.024 Tail rotor blade zero lift drag coefficient
𝑪𝑪𝑻𝑻𝑻𝑻𝑻𝑻𝑻𝑻
𝑻𝑻
=0.0922 Tail rotor max thrust coefficient
nT = 4.66 Gear ratio of tail rotor to main rotor
nes = 9.0 Gear ratio of engine shaft to main rotor
𝜹𝜹𝑻𝑻
𝒕𝒕𝒕𝒕𝒕𝒕𝒕𝒕
= 0.1 rad Tail rotor pitch trim offset
SV= 0.012 m2
Effective vertical fin area
SH =0.01 m2
Effective horizontal fin area
𝐶𝐶𝐿𝐿∝
𝑉𝑉
= 2.0 rad-1
Vertical fin lift curve slope
𝐶𝐶𝐿𝐿∝
𝐻𝐻
= 3.0 rad-1
Horizontal tail lift curve slope
𝑆𝑆𝑥𝑥
𝐹𝐹
= 0.1 m2
Frontal fuselage drag area
𝑺𝑺𝒚𝒚
𝑭𝑭
= 0.22 m2
Side fuselage drag area
𝑆𝑆𝑧𝑧
𝐹𝐹
= 0.15 m2
Vertical fuselage drag area
hM = 0.235 m Main rotor hub height above CG
lM = 0.015 m Main rotor hub behind CG
lT = 0.91 m Tail rotor hub location behind CG
hT = 0.08 m Tail rotor height above CG
lH= 0.71 m Stabilizer location behind CG
kMR =0.3333 Amount of commanded swash plate tilt
kCR =1.1429
Geometry coefficient of the mechanical
linkage of control rotor and swash plate
4. Paper: ASAT-14-008-US
4
Fig. 2 Typical Arrangement of Component Forces and Moments Generation in
6-DOF Helicopter Simulation Model
The linearized matrices for hover condition excluding the control rotor (Six DOF model eight
states) are given in Table 2 and Table 3. Each column and row is marked with the states and
inputs that are being referred to the state space model. Table 4 states the stable and unstable
eigenvalues according to the different modes for six DOF in hovering and low speed flight
conditions. Figure 3 illustrates the different poles on the corresponding Pole-Zero Map.
𝑥𝑥̇ = 𝐴𝐴𝐴𝐴 + 𝐵𝐵𝐵𝐵 (10)
𝑦𝑦 = 𝐶𝐶𝐶𝐶 (11)
Table 2 Analytically obtained A matrix in hover with no control rotor
u w Q θ v p φ r
u -0.0070825 0 0.00093895 -9.81 -0.0009389 -0.0292 0 0
w 0 -0.8159 0 0 0 0 0 -0.12
q 0.0377 -0.2775 -0.6718 0 -0.28599 0.1558 0 0.265
θ 0 0 1 0 0 0 0 0
v 0.00093895 0 0.0144 0 -0.06808 0.122823 9.81 0.055
p 0.0094513 0 -0.2942 0 -0.1377 -1.286 0 0.19
φ 0 0 0 0 0 1 0 0
r 0 -1.5246 0 0 1.528 0.122 0 -5.1868
Table 3 Analytically obtained B matrix in hover with no control rotor
δCol δLon δLat δPed
u 5.2981 1.5591 -0.1816 0
w -128.777 0 0 0
q -72.0367 -8.3082 0.9678 9.07
θ 0 0 0 0
v -31.9088 0.0605 -0.5196 5.055
p -321.1883 1.8281 -15.6933 17.322
φ 0 0 0 0
r 178.2831 0 0 17.322
5. Paper: ASAT-14-008-US
5
Table 4 Eigenvalues and modes for 6-DOF in Hovering/Low Speed Flight Condition
Mode Eigenvalues Damping Frequency (rad/s)
Longitudinal Oscillation 0.169 ± 0.392i -0.395 0.427
Lateral Oscillation -0.0279 ± 0.765i 0.0365 0.765
Heave -0.68 ± 0.142i 0.979 0.695
Roll Subsidence -1.68 1 1.68
Yaw -5.28 1 5.28
Fig. 3 Poles of Coupled Longitudinal and Lateral Motion for
6-DOF with no Control Rotor
2. Application of Pole Placement Method to 6-DOF
(8 States Linear Model)
The objective of applying Pole Placement Method (PPM) to 6-DOF model is to shift the
unstable Poles (the above marked ones) to the Left region of the root Locus (stable region).
Consequently an initial stable reference model is established and ready to be tuned by
applying GA functions to optimize the net performance index. The default poles will be
placed in new position as the following (-0.8±1.095i, -0.85±1.096i, -57, -10, -15, -10)
according to the stated flying qualities in Fig. 4, [5]:
6. Paper: ASAT-14-008-US
6
Fig. 4 Limits on pitch (roll) oscillations – hover and low speed according to
Aeronautical Design Standard for military helicopter (ADS-33C)
(US Army Aviation Systems Command, 1989)
2. Application of GA Functions to optimize the PID Controller Parameters
The main objective of the proposed GA procedure is to optimize (minimize) the output
performance index (maximize fitness function) of the whole integrated control system used in
Fig. 5. An application of GA code combined with SIMULINK control model for the proposed
Helicopter model is implemented to minimize the performance index (J), [3].
The equation describing the net output performance (J) is stated below:
∫
∞
⋅⋅+⋅⋅+⋅⋅+⋅⋅=
0
4
2
3
2
2
2
1
2
])_()_()_()_([ dtsimresimesimwesimueJ WtWtWtWt ϕ (12)
where
e(u_sim) is the forward speed error
e(w_sim) is the normal speed error
e(𝜑𝜑_sim) is the bank angle error
e(r_sim) is the yaw rate error
W1,W2, W3 and W4 are the performance weights that depend on the required performance
priority.
The previous index can be obtained from the nonlinear simulation of the pitch control
model consequently GA can use it as the fitness function.
2.1 Optimizing PID Parameters
2.1.1 Using binary system coding
Coding: using 10-bit binary genes to express DIP KKK ,, . For example (KP) from bit 1
(0)0000000000 , to bit 10 is (1023)1111111111 .Then string DIP KKK ,, to 30-bit binary
cluster. 000010001011101110000000110111:x expresses a chromosome,the former 10-bit
express KP, the second portion express KI and the third one express the KD.
Decoding: Cut one string of 30-bit binary string to three 10-bit binary string,then converts
them to decimal system values y1, y2 and y3, [3, 4].
7. Paper: ASAT-14-008-US
7
Fig. 5 Proposed Control System for Computing PID Optimum Gains
2.1.2 Evaluation of fitness function
Fitness function is the main criterion of the GA algorithm, as it represents how much the
system is optimum and stable. The following equation describes the relation between the
fitness function and the performance index.
1
))_((),,( −
= simeJKKKf DIP (13)
2.1.3 Design operators
Proportion selection operator,single point crossover operator,basic bit mutation operator.
2.1.4 Parameters of GA
Population size is 04=M , generation 100=G , crossover probability 0.60c =P ,mutation
probability 0.10m =P . Adopting the above steps, after 100 steps iteration, Fig. 6, the best
performance index will be reached giving the optimum gains as shown in Table 5.
8. Paper: ASAT-14-008-US
8
Fig. 6 Performance Index J after 100 iterations
Table 5 PID Optimum Gains for the Integrated Control System
k1 k2 k3 k4 kp0 kd0 ki0 kp1
-0.7634 -0.1711 -0.9081 -0.9902 0.0190 0 -1.8034 4.6676
kd1 ki1 kp2 kd2 ki2 kp3 kd3 Ki3
0 4.6774 4.9022 0 2.9062 2.9120 0 3.0459
3. Integrated Control System
Building up the PID controller using the previous optimum gains stated in Table 5 (inner loop
controller). Then a proposed guidance algorithm is established and fed with the flying model
position from the GPS and the waypoints data (number of waypoints, locations and
sequence). Applying vector analysis with mathematical aids, the relative heading and
elevation with respect to the next waypoint will be calculated. Consequently the required
change in heading and elevation will be fed to the PID controller (outer loop) after applying
manual tuning to the out loop gains. Figure 7 demonstrates the current and the relative
heading with respect to the next waypoint in the sequence. The guidance algorithm maintains
the actual flight path not to fly in continuous loops around a definite waypoint by using some
switching limiters such as acceptable circular error around the proposed waypoints and
switching orthogonal liners. Figure 8 shows the integrated control system including
(Helicopter Model, Guidance Algorithm and PID Controller) with the input commands and
the output performance. The guidance algorithm was implemented using Matlab code, and all
the simulation results were conducted using Simulink.
4. Guidance Approach
4.1 TTM Trajectory Tracking Method
This approach is concerning the relative distances such as the lateral and the vertical distances
with respect to the desired trajectory current segment DTCS body axis Fig. 9. In this method
(in case of lateral control) inner and outer loops will be required, the inner loop will control
the yaw rate and the outer loop will be fed by the lateral relative distance with respect to the
desired trajectory current segment DTCS body axis while the feedback signal will represent
the change in the heading as the absolute heading is not useful in this case. Both the inner and
the out loop gains will be tuned by several trials after system integration. This approach leads
to minimize the relative distances between the actual flight path and the desired trajectory.
9. Paper: ASAT-14-008-US
9
Fig. 7 Relative Heading using Waypoint Tracking Strategy
Fig. 8 Integrated Control System Including (Helicopter Model,
Guidance Algorithm, PID Controller)
10. Paper: ASAT-14-008-US
10
4.2 WPTM Waypoint Tracking Method
This approach is concerning the relative heading and elevation with respect to waypoints,
Fig. 10. Applying some vector analysis the required change in heading or elevation will be
easily calculated, consequently they will be fed to the yaw rate inner loop after tuning the
command input gain according to the performance criteria, [1].
Fig. 9 Lateral Distances using
Trajectory Tracking Strategy
Fig. 10 Relative Heading using
Waypoint Tracking Strategy
The following equations explain the transformation procedure starting from the actual flying
model position with respect to fixed frame of reference to body coordinate of the DTCS with
estimating a small initial conditions of (0.0001 for example) to avoid the singularities during
simulation calculation, Fig. 11, [2,3].
X_T =Actual Flying Model Longitude (X component) relative to the fixed frame of reference
Y_T =Actual Flying Model Latitude (Y component) relative to the fixed frame of reference
Z_T =Actual Flying Model Altitude (Z component) relative to the fixed frame of reference
X_F =The Start Point of the Desired Trajectory Current Segment DTCS (X component)
relative to the fixed frame of reference
Y_F = The Start Point of the Desired Trajectory Current Segment DTCS (Y component)
relative to the fixed frame of reference
Z_F = The Start Point of the Desired Trajectory Current Segment DTCS (Z component)
relative to the fixed frame of reference
XBO = Flying Model Actual Longitude (X component) relative to DTCS body axes at the
fixed frame of reference
YBO = Flying Model Actual Latitude (Y component) relative to DTCS body axes at the fixed
frame of reference
ZBO = Flying Model Actual Altitude (Z component) relative to DTCS body axes at the fixed
frame of reference
XB = Flying Model Actual Longitude (X component) relative to DTCS body axes
YB = Flying Model Actual Latitude (Y component relative) to DTCS t body axes
ZB = Flying Model Actual Altitude (Z component) relative to DTCS body axes
θ , Ф, ψ = Rotation around X,Y, Z axes
A = cos θ cos ψ
B = (sin Ф sin θ cos ψ – cos Ф sin ψ)
C = (cos Ф sin θ cos ψ+ sin Ф sin ψ)
11. Paper: ASAT-14-008-US
11
D = cos θ sin ψ
E = (sin Ф sin θ sin ψ + cos Ф cos ψ)
F = (cos Ф sin θ sin ψ – sin Ф cos ψ)
G = – sin θ
M = sin Ф cos θ
N = cos Ф cos θ
)])(())([(
)])(())([(
BDEANACGMABGCDFA
BDEAZAXGMABGXDYA
ZBO
−−−−−
−−−−−
= (14)
)(
)]()[(
BDEA
CDFAZXDYA
Y BO
BO
−
−−−
= (15)
A
CZBYX
X BOBO
BO
)( −−
= (16)
)])(())([(
)])(())([(
BDEANACGMABGCDFA
BDEAAZGXMABGDXAY
Z FFFF
SHIFT
−−−−−
−−−−−
= (17)
)(
)]()[(
BDEA
CDFAZDXAY
Y SHIFTFF
SHIFT
−
−−−
= (18)
A
CZBYX
X SHIFTSHIFTF
SHIFT
)( −−
= (19)
XB = XBO – X shift (20)
YB = YBO – Y shift (21)
ZB = ZBO – Z shift (22)
Fig. 11 Calculating the Flying Model Relative Distances
with Respect to DTCS Body Axis
12. Paper: ASAT-14-008-US
12
5. System Performance
In the following figures (Fig. 12 through Fig. 31), it is clear that the Trajectory Tracking
Method TTM has a great and obvious impact in minimizing the relative distance between the
actual flight path and the desired trajectory, the figures show that the flying model almost
flying stick to the desired path when TTM is used while it tracks the waypoints only when
WPTM is used regardless the relative distances between the actual and the desired path, thus
increasing the relative distances (relative errors) when WPTM is used compared to the
relative distances if TTM is used. Figure 26 shows also a considerable fluctuation with large
amplitude when TTM is used rather than when WPTM is used expressing a large control
energy consumed during TTM due to the high number of attempts performed by the flying
model to track each segment in the desired trajectory segments. Figures 30 and 31 show that
TTM would have longer endurance (5% more) than the WPTM for the same range (or
mission), consequently TTM would have less range than WPTM for a given amount of fuel.
Fig. 12 Actual and Desired Trajectories in
XY Plane with the Relative Lateral
Distances (in DTCS body axis)
for TTM
Fig. 13 Actual and Desired Trajectories in
XY Plane with the Relative Lateral
Distances (in DTCS body axis)
for WPTM
Fig. 14 Actual and Desired Trajectories
with Actual Heading Angle For TTM
Fig. 15 Actual and Desired Trajectories
with Actual Heading Angle For WPTM
13. Paper: ASAT-14-008-US
13
Fig. 16 Actual and Desired Trajectories in
XZ Plane with the Relative Vertical
Distances (in DTCS body axis)
for TTM
Fig. 17 Actual and Desired Trajectories in
XZ Plane with the Relative Vertical
Distances (in DTCS body axis)
for WPTM
Fig. 18 Actual and Desired Trajectories in
XZ Plane with Actual Elevation
for TTM
Fig. 19 Actual and Desired Trajectories in
XZ Plane with Actual Elevation
for WPTM
Fig. 20 Actual and Desired Forward
Speed for TTM
Fig. 21 Actual and Desired Forward
Speed for WPTM
14. Paper: ASAT-14-008-US
14
Fig. 22 Angle of Attack for TTM Fig. 23 Angle of Attack for WPTM
Fig. 24 Side Slip Angle for TTM Fig. 25 Side Slip Angle for WPTM
Fig. 26 Yaw Rate for TTM Fig. 27 Yaw Rate for WPTM
Fig. 28 Pitch Rate for TTM Fig. 29 Pitch Rate for WPTM
15. Paper: ASAT-14-008-US
15
Fig. 30 Range and Endurance for TTM Fig. 31 Range and Endurance for WPTM
6. Control System Performance
Figures 32 through 39 illustrate the control efforts done by each servo to perform the
maneuvers required for the desired flight path for both TTM and WPTM. Figure 38 indicates
an obvious fluctuation with large amplitude that would need a considerable amount of electric
energy. This number of fluctuations would reduce the servos life time, and decrease the mean
time between failures.
Fig. 32 Lateral Control Effort for TTM Fig. 33 Lateral Control Effort for WPTM
Fig. 34 Pitch Control Effort for TTM Fig. 35 Pitch Control Effort for WPTM
Fig. 36 Collective Control Effort for TTM Fig. 37 Collective Control Effort for
WPTM
16. Paper: ASAT-14-008-US
16
Fig. 38 Rudder Control Effort for TTM Fig. 39 Rudder Control Effort for WPTM
7. System Evaluation
The absolute relative distance integral in both (X, Y) directions (in DTCS body axis) was
chosen to be the evaluation criteria (Performance Index PI) in this work. Figures 40 and 41
show that the Trajectory Tracking Method TTM has less (Performance Index PI) when it is
compared with Waypoint Tracking Method WPTM though the (Performance Index PI) using
WPTM is slightly less than when using TTM in Z direction (with respect to DTCS body axis).
As the global performance index for both directions Y, Z (with respect to DTCS body axis)
using TTM is much less when compared with the WPTM. On the other hand when applying
the same performance index to both methods (TTM, WPTM) for yaw rate, yaw acceleration
and yaw jerk, it is clear that the TTM energy consumption during the tracking maneuvers is
much more than the energy consumed by the WPTM as it is shown in Figs. 42, 43 and 44,
[4,5].
Fig. 40 Performance Index in (Z)
Directions for TTM and WPTM
Fig. 41 Performance Index in (Y)
Directions for TTM and WPTM
17. Paper: ASAT-14-008-US
17
Fig. 42 Absolute Yaw Rate Integral for both TTM and WPTM
Fig. 43 Absolute Yaw Angular Acceleration Integral for both TTM and WPTM
Fig. 44 Absolute Yaw Angular Jerk Integral for both TTM and WPTM
18. Paper: ASAT-14-008-US
18
8. Conclusion
This paper has presented a customized autopilot using PID controller combined with a
guidance algorithm. Genetic algorithm was used in this work to tune the proposed stable state
space model after applying pole placement method PPM. The proposed stable poles satisfy
the flying qualities criteria. The illustrated results show an adequate system performance with
a reasonable relative distances with respect to the desired trajectory. The forward speed was
maintained constant during the whole flight according the desired speed. The servos control
efforts are satisfying the band width limits, and also the minimum and maximum limits. It is
concluded from the system performance that it is recommended to use TTM in case when the
unmanned flying model is required to track a planned trajectory with less relative errors,
while the WPTM is recommended when the precision in tracking the planned trajectory is not
an objective. However the control energy consumed by TTM is obviously more than WPTM
for the same planned trajectory (Flight Path), thus the control servos using TTM would
require more batteries than they would require when using WPTM. The application of hybrid
system that utilizes both methods advantages is strongly recommended in this case. Using
both methods will allow applying TTM during loitering when the tracking precision is
required, while applying WPTM when it is only required to pass the waypoints without
tracking the flight path passing those waypoints (when covering distances only is required
during flight).
9. References
[1] Shamsudin S. S., “The Development of Autopilot System for an Unmanned Aerial
Vehicle (UAV) Helicopter Model”, M. Sc. thesis, Universiti Teknologi, Malaysia,
Faculty of Mechanical Engineering. 2007, pp. 1-147.
[2] Hosny A. M., Chao H., “Development of Fuzzy Logic LQR Control Integration for
Aerial Refueling Autopilot”, " Proceedings of the 12th
International Conference on
Aerospace Sciences and Aviation Technology, ASAT-12," , MTC, Cairo, Egypt, May
29-31, 2007.
[3] Hosny A. M., Chao H., “Fuzzy Logic Controller Tuning Via Adaptive Genetic
Algorithm Applied to Aircraft Longitudinal Motion”, " Proceedings of the 12th
International Conference on Aerospace Sciences and Aviation Technology, ASAT-12,"
MTC, Cairo, Egypt, May 29-31, 2007.
[4] Goldberg, D., Genetic Algorithms in Search, Optimization & Machine Learning,1st
. ed.,
Vol. 1, Addison Wesley Longman, 1989.
[5] Flying Qualities of Aeronautical Design Standard for Military Helicopter (ADS-33C)
(US Army Aviation Systems Command, 1989).