Design of MPCs for a fixed wing UAV

2017 ◽  
Vol 89 (6) ◽  
pp. 893-901 ◽  
Author(s):  
Hakan Ülker ◽  
Cemal Baykara ◽  
Can Özsoy
Keyword(s):  
Flight Control ◽  
Linear Models ◽  
University Of Minnesota ◽  
Content Type ◽  
Simulink Model ◽  
Flying Qualities ◽  
Aerial Vehicle ◽  
Model Predictive Controllers ◽  
Mimo Model ◽  
The University

Purpose The purpose of the paper is to examine a fixed wing unmanned aerial vehicle (UAV) as it undergoes five flight scenarios under straight and level, level climb, level turn, climbing turn and level steady heading sideslip conditions in a desired and controlled manner using constrained multi input multi output (MIMO) model predictive controllers (MPCs). Design/methodology/approach An MPC strategy based on the lateral and longitudinal linear models is proposed for the flight control design. Simulations are carried out for the nonlinear closed-loop aircraft Simulink model available from the University of Minnesota UAV research group with the implemented MIMO MPCs designed in this paper. Findings The results of the simulations show that the MIMO MPCs can achieve satisfactory performance and flying qualities under three different test conditions in terms of existing unmeasured outputs and unmeasured output disturbances. Practical Implications The MPCs designed in this paper can be implemented to UAVs. Therefore, the implementation is considered as an advanced research. Originality/value The proposed MPC design in this paper provides more flexibility in terms of tracking complex trajectories comparing with the classical controllers in the literature. Besides they provide to change more than one reference of the states at any time.

PIL simulations of an FWUAV under windy conditions

2018 ◽  
Vol 90 (2) ◽  
pp. 461-470
Author(s):  
Hakan Ülker ◽  
Cemal Baykara ◽  
Can Özsoy
Keyword(s):  
Linear Models ◽  
Low Cost ◽  
Wind Gust ◽  
Content Type ◽  
Flying Qualities ◽  
Aerial Vehicle ◽  
Model Predictive Controllers ◽  
Predictive Controllers ◽  
Complex Trajectories ◽  
Practical Implications

Purpose A fixed wing unmanned aerial vehicle (FWUAV) is targeted to perform processor in the loop (PIL) simulations for the flight scenarios such as straight and level, level climb, level turn, climbing turn and level steady heading sideslip under windy conditions such as steady wind (SW) and wind gust (WG) in a desired and controlled manner. Design/methodology/approach The constrained multi-input–multi-output (MIMO) lateral and longitudinal linear models-based model predictive controllers (MPCs) which are proposed in a previous study (Ulker et al., 2017) are tested in the PIL simulations under specified windy conditions. BeagleBone Black Rev C is used as a target hardware or processor in the PIL simulations. Findings The results of the PIL simulations show that the MPCs proposed in the previous study can achieve satisfactory performance and flying qualities for the all flight scenarios handled in this paper under windy conditions. Practical implications The MPCs proposed in the previous study can be easily implemented in the real world to a low-cost and small-sized board like BeagleBone Black Rev C which is used in this paper. Originality/value The proposed MPCs in the previous study which are capable of providing more flexibility in terms of tracking complex trajectories are showed to be able to be implemented to real system by means of PIL simulations under the changeable windy conditions which are difficult for performance tests.

Model predictive control of an unmanned aerial vehicle

2017 ◽  
Vol 89 (2) ◽  
pp. 193-202 ◽  
Author(s):  
Halit Firat Erdogan ◽  
Ayhan Kural ◽  
Can Ozsoy
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Predictive Control ◽  
Control Method ◽  
Relevant Literature ◽  
Control Effort ◽  
Content Type ◽  
Multiple Input ◽  
Predictive Controller ◽  
Aerial Vehicle ◽  
Mimo Model

Purpose The purpose of this paper is to design a controller for the unmanned aerial vehicle (UAV). Design/methodology/approach In this study, the constrained multivariable multiple-input and multiple-output (MIMO) model predictive controller (MPC) has been designed to control all outputs by manipulating inputs. The aim of the autopilot of UAV is to keep the UAV around trim condition and to track airspeed commands. Findings The purpose of using this control method is to decrease the control effort under the certain constraints and deal with interactions between each output and input while tracking airspeed commands. Originality/value By using constraint, multivariable (four inputs and seven outputs) MPC unlike the relevant literature in this field, the UAV tracked airspeed commands with minimum control effort dealing with interactions between each input and output under disturbances such as wind.

Experience with brain abscesses

1972 ◽  
Vol 36 (1) ◽  
pp. 1-9 ◽  
Author(s):  
Michael E. Carey ◽  
Shelley N. Chou ◽  
Lyle A. French
Keyword(s):  
Diagnostic Tests ◽  
Neurological Status ◽  
University Of Minnesota ◽  
Excessive Bleeding ◽  
Content Type ◽  
Brain Scan ◽  
Brain Abscesses ◽  
Missed Diagnosis ◽  
The University ◽  
Fine Print

✓ Eighty-six patients with brain abscesses were seen at the University of Minnesota Hospitals from 1946–1965, and 46 died, a 53% mortality. Multiple and brain stem abscesses accounted for several fatalities, while delayed and missed diagnosis accounted for one third of the deaths. Evidence of infection was often minimal in patients with brain abscess. Lumbar puncture as a diagnostic tool was inaccurate and occasionally fatal. Brain scan, electroencephalography, and angiography were the best diagnostic tests. Drainage and excision were each associated with approximately a 20% mortality. The most pertinent correlation regarding treatment, however, was that of increasing mortality with deteriorating preoperative neurological status. Postoperative deaths were due to failure in locating the abscess at surgery or untoward events such as cerebritis, edema, or excessive bleeding at the operative site.

Metadata specialists in transition: from MARC cataloging to linked data and BIBFRAME (data deluge column)

2016 ◽  
Vol 33 (4) ◽  
pp. 1-5
Author(s):  
Donna E. Frederick
Keyword(s):  
Linked Data ◽  
Career Progression ◽  
Michigan State University ◽  
State University ◽  
University Of Minnesota ◽  
Content Type ◽  
Skill Sets ◽  
Data Movement ◽  
Specific Skill ◽  
The University

Purpose The Association of Library Collections and Technical Services, better known as ALCTS, is a division of the American Library Association. Design/methodology/approach Approximately once a month, ALCTS hosts an “eForum”, which is a moderated email-based discussion. The February 2016 ALCTS eForum was called “Career Progression in Cataloging and Metadata”. Findings It was led by Lisa Robinson of Michigan State University and Stacie Traill of the University of Minnesota. Lisa and Stacie have provided a summary of the discussion on a publicly accessible website which is referenced at the end of the column. Originality/value There were a number of comments and discussion threads which reflect the changing nature of library data or metadata; how it is created and managed; and the specific skill sets of catalogers and metadata librarians. This installment of the Data Deluge contains an examination and discussion of challenges associated with the role and career progression of catalogers and metadata specialists as they establish their place in the emerging linked data movement in libraries.

The Effects of Presentation on Noise and Dental Appliances on Speech

1981 ◽  
Vol 24 (1) ◽  
pp. 151-151
Author(s):  
Lillian Glass ◽  
Sharon R. Garber ◽  
T. Michael Speidel ◽  
Gerald M. Siegel ◽  
Edward Miller
Keyword(s):  
Southern California ◽  
University Of Southern California ◽  
University Of Minnesota ◽  
School Of Medicine ◽  
Southern California School ◽  
School Of Dentistry ◽  
The University

An omission in the Table of Contents, December JSHR, has occurred. Lillian Glass, Ph.D., at the University of Southern California School of Medicine and School of Dentistry, was a co-author of the article "The Effects of Presentation on Noise and Dental Appliances on Speech" along with Sharon R. Garber, T. Michael Speidel, Gerald M. Siegel, and Edward Miller of the University of Minnesota, Minneapolis.

Integrating Legacy Laboratory Information Systems into a Client-Server World: The University of Minnesota Clinical Workstation (CWS) Project

1995 ◽  
Vol 34 (03) ◽  
pp. 289-296 ◽  
Author(s):  
B. H. Sielaff ◽  
D. P. Connelly ◽  
K. E. Willard
Keyword(s):  
Information Systems ◽  
Clinical Decision ◽  
Database Management System ◽  
University Of Minnesota ◽  
Client Server ◽  
Clinical Workstation ◽  
Future Hospital ◽  
The Cost ◽  
The University ◽  
Laboratory Information Systems

Abstract:The development of an innovative clinical decision-support project such as the University of Minnesota’s Clinical Workstation initiative mandates the use of modern client-server network architectures. Preexisting conventional laboratory information systems (LIS) cannot be quickly replaced with client-server equivalents because of the cost and relative unavailability of such systems. Thus, embedding strategies that effectively integrate legacy information systems are needed. Our strategy led to the adoption of a multi-layered connection architecture that provides a data feed from our existing LIS to a new network-based relational database management system. By careful design, we maximize the use of open standards in our layered connection structure to provide data, requisition, or event messaging in several formats. Each layer is optimized to provide needed services to existing hospital clients and is well positioned to support future hospital network clients.

Sign in / Sign up

Export Citation Format

Share Document