Guidance and control algorithms for mini UAV autopilots

2017 ◽  
Vol 89 (1) ◽  
pp. 133-144 ◽  
Author(s):  
Elisa Capello ◽  
Giorgio Guglieri ◽  
Gianluca Ristorto
Keyword(s):  
Attitude Control ◽  
Path Following ◽  
Adaptive Controller ◽  
Computationally Efficient ◽  
Control Laws ◽  
Content Type ◽  
Guidance And Control ◽  
Aerial Vehicle ◽  
Set Up ◽  
And Control

Purpose The aim of this paper is the implementation and validation of control and guidance algorithms for unmanned aerial vehicle (UAV) autopilots. Design/methodology/approach The path-following control of the UAV can be separated into different layers: inner loop for pitch and roll attitude control, outer loop on heading, altitude and airspeed control for the waypoints tracking and waypoint navigation. Two control laws are defined: one based on proportional integrative derivative (PID) controllers both for inner and outer loops and one based on the combination of PIDs and an adaptive controller. Findings Good results can be obtained in terms of trajectory tracking (based on waypoints) and of parameter variations. The adaptive control law guarantees smoothing responses and less oscillations and glitches on the control deflections. Practical implications The proposed controllers are easily implementable on-board and are computationally efficient. Originality/value The algorithm validation via hardware in the loop simulations can be used to reduce the platform set-up time and the risk of losing the prototype during the flight tests.

scholarly journals SATELLITE GUIDANCE AND CONTROL DURING OPERATIVE OPTOELECTRONIC IMAGERY FOR DISASTER MANAGEMENT

2018 ◽  
Vol XLII-3/W4 ◽  
pp. 475-482
Author(s):  
Y. Somov ◽  
C. Hajiyev
Keyword(s):  
Disaster Management ◽  
Attitude Control ◽  
Attitude Determination ◽  
Earth Surface ◽  
Attitude Control System ◽  
Control Laws ◽  
Guidance And Control ◽  
The Earth ◽  
Synchronous Orbit ◽  
And Control

<p><strong>Abstract.</strong> We consider problems on surveying the Earth surface during operative optoelectronic imagery for disaster management with respect to attitude guidance and control of the agile spacecraft. The land surveying is carried out by a set of extended orthodromic routes of scanning optoelectronic observation for a given part of the Earth surface. We present developed methods for synthesis of nonlinear guidance and attitude control laws, dynamic research of the spacecraft attitude control system with the satellite astroinertial attitude determination and digital control by the excessive gyro moment cluster. We present results on the efficiency of the developed vector spline guidance laws, algorithms for discrete filtering and the digital gyromoment control of a satellite orientation during the areal landsurveying of Istanbul neighborhoods for the spacecraft on sun-synchronous orbit with altitude of 720&amp;thinsp;km when the allowed deviation of the target line from Nadir is within the cone with semi-angle of 40&amp;thinsp;deg.</p>

scholarly journals Safe Control for Spiral Recovery of Unmanned Aerial Vehicle

2014 ◽  
Vol 2014 ◽  
pp. 1-10
Author(s):  
Chang-Jian Ru ◽  
Rui-Xuan Wei
Keyword(s):  
Control Method ◽  
Safety Issue ◽  
State Variables ◽  
Control Laws ◽  
Control Approach ◽  
Guidance And Control ◽  
Aerial Vehicle ◽  
Safe Control ◽  
Autonomous Recovery ◽  
And Control

With unmanned aerial vehicles (UAVs) widely used in both military and civilian fields, many events affecting their safe flying have emerged. That UAV’s entering into the spiral is such a typical safety issue. To solve this safety problem, a novel recovery control approach is proposed. First, the factors of spiral are analyzed. Then, based on control scheduling of state variables and nonlinear dynamic inversion control laws, the spiral recovery controller is designed to accomplish guidance and control of spiral recovery. Finally, the simulation results have illustrated that the proposed control method can ensure the UAV autonomous recovery from spiral effectively.

scholarly journals Neighboring Optimal Guidance and Constrained Attitude Control for Accurate Orbit Injection

2021 ◽  
Author(s):  
Mauro Pontani ◽  
Fabio Celani
Keyword(s):  
Attitude Control ◽  
Initial Position ◽  
Low Earth Orbit ◽  
Guidance And Control ◽  
Optimal Guidance ◽  
Combined Use ◽  
Upper Stage ◽  
Neighboring Optimal Guidance ◽  
And Control ◽  
Guidance Technique

AbstractAccurate orbit injection represents a crucial issue in several mission scenarios, e.g., for spacecraft orbiting the Earth or for payload release from the upper stage of an ascent vehicle. This work considers a new guidance and control architecture based on the combined use of (i) the variable-time-domain neighboring optimal guidance technique (VTD-NOG), and (ii) the constrained proportional-derivative (CPD) algorithm for attitude control. More specifically, VTD-NOG & CPD is applied to two distinct injection maneuvers: (a) Hohmann-like finite-thrust transfer from a low Earth orbit to a geostationary orbit, and (b) orbit injection of the upper stage of a launch vehicle. Nonnominal flight conditions are modeled by assuming errors on the initial position, velocity, attitude, and attitude rate, as well as actuation deviations. Extensive Monte Carlo campaigns prove effectiveness and accuracy of the guidance and control methodology at hand, in the presence of realistic deviations from nominal flight conditions.

Nonlinear integrated guidance and control based on adaptive backstepping scheme

2017 ◽  
Vol 89 (3) ◽  
pp. 415-424 ◽  
Author(s):  
Seyed Hamed Seyedipour ◽  
Mohsen Fathi Jegarkandi ◽  
Saeed Shamaghdari
Keyword(s):  
Nonlinear System ◽  
Nonlinear Model ◽  
Adaptive Backstepping ◽  
Content Type ◽  
Guidance And Control ◽  
Air Vehicle ◽  
Backstepping Controller ◽  
Integrated Guidance And Control ◽  
And Control ◽  
Adaptive Backstepping Controller

Purpose The purpose of this paper is to design an adaptive nonlinear controller for a nonlinear system of integrated guidance and control. Design/methodology/approach A nonlinear integrated guidance and control approach is applied to a homing, tail-controlled air vehicle. Adaptive backstepping controller technique is used to deal with the problem, and the Lyapanov theory is used in the stability analysis of the nonlinear system. A nonlinear model of normal force coefficient is obtained from an existing nonlinear model of lift coefficient which was validated by open loop response. The simulation was performed in the pitch plane to prove the benefits of the proposed scheme; however, it can be readily extended to all the three axes. Findings Monte Carlo simulations indicate that using nonlinear adaptive backstepping formulation meaningfully improves the performance of the system, while it ensures stability of a nonlinear system. Practical implications The proposed method could be used to obtain better performance of hit to kill accuracy without the expense of control effort. Originality/value A nonlinear adaptive backstepping controller for nonlinear aerodynamic air vehicle is designed and guaranteed to be stable which is a novel-based approach to the integrated guidance and control. This method makes noticeable performance improvement, and it can be used with hit to kill accuracy.

scholarly journals A Novel Concept for Guidance and Control of Spacecraft Orbital Maneuvers

2016 ◽  
Vol 2016 ◽  
pp. 1-14 ◽  
Author(s):  
Matteo Dentis ◽  
Elisa Capello ◽  
Giorgio Guglieri
Keyword(s):  
Attitude Control ◽  
Linear Quadratic Regulator ◽  
Control Algorithms ◽  
Linear Quadratic ◽  
C Language ◽  
Orbital Maneuvers ◽  
Guidance And Control ◽  
Actuation System ◽  
Novel Concept ◽  
And Control

The purpose of this paper is the design of guidance and control algorithms for orbital space maneuvers. A 6-dof orbital simulator, based on Clohessy-Wiltshire-Hill equations, is developed in C language, considering cold gas reaction thrusters and reaction wheels as actuation system. The computational limitations of on-board computers are also included. A combination of guidance and control algorithms for an orbital maneuver is proposed: (i) a suitably designed Zero-Effort-Miss/Zero-Effort-Velocity (ZEM/ZEV) algorithm is adopted for the guidance and (ii) a linear quadratic regulator (LQR) is used for the attitude control. The proposed approach is verified for different cases, including external environment disturbances and errors on the actuation system.

Horizontal path following for underactuated AUV based on dynamic circle guidance

Robotica ◽  
2015 ◽  
Vol 35 (4) ◽  
pp. 876-891 ◽  
Author(s):  
Huang Xinjing ◽  
Li Yibo ◽  
Du Fei ◽  
Jin Shijiu
Keyword(s):  
Control Method ◽  
Autonomous Underwater Vehicles ◽  
Path Following ◽  
Mapping Function ◽  
Convex Mapping ◽  
Guidance And Control ◽  
Path Following Control ◽  
And Control ◽  
Cross Track ◽  
Path Point

SUMMARYA 2D path following control method for Autonomous Underwater Vehicles (AUVs) based on dynamic circle heading modification (DCHM) is presented. The method makes a dynamic auxiliary circle, whose radius depends on the cross-track error e, to intersect the desired path to get a new expected path point, and then determines a modified expected heading for the AUV. The guidance function is achieved by a direct mapping between e and the heading modification value Ψm. Several cases are tested in order to demonstrate the performance of the guidance and control method based on DCHMs for a real AUV. Results show that methods using a convex mapping function between e and Ψm based on our new idea can easily achieve a better convergence of path following, and reduce the error between the actual and desired heading angles. We can also customize a discretionary mapping between e and Ψm to get better path following performance.

scholarly journals Decreased Xylitol Formation during Xylose Fermentation in Saccharomyces cerevisiae Due to Overexpression of Water-Forming NADH Oxidase

2011 ◽  
Vol 78 (4) ◽  
pp. 1081-1086 ◽  
Author(s):  
Guo-Chang Zhang ◽  
Jing-Jing Liu ◽  
Wen-Tao Ding
Keyword(s):  
Saccharomyces Cerevisiae ◽  
Xylose Fermentation ◽  
Nadh Oxidase ◽  
Xylose Reductase ◽  
Control Strain ◽  
Content Type ◽  
Ethanol Yields ◽  
Glycerol Yield ◽  
Set Up ◽  
And Control

ABSTRACTThe recombinant xylose-fermentingSaccharomyces cerevisiaestrain harboring xylose reductase (XR) and xylitol dehydrogenase (XDH) fromScheffersomyces stipitisrequires NADPH and NAD+, creates cofactor imbalance, and causes xylitol accumulation during growth ond-xylose. To solve this problem,noxE, encoding a water-forming NADH oxidase fromLactococcus lactisdriven by thePGK1promoter, was introduced into the xylose-utilizing yeast strain KAM-3X. A cofactor microcycle was set up between the utilization of NAD+by XDH and the formation of NAD+by water-forming NADH oxidase. Overexpression ofnoxEsignificantly decreased xylitol formation and increased final ethanol production during xylose fermentation. Under xylose fermentation conditions with an initiald-xylose concentration of 50 g/liter, the xylitol yields for of KAM-3X(pPGK1-noxE) and control strain KAM-3X were 0.058 g/g xylose and 0.191 g/g, respectively, which showed a 69.63% decrease owing tonoxEoverexpression; the ethanol yields were 0.294 g/g for KAM-3X(pPGK1-noxE) and 0.211 g/g for the control strain KAM-3X, which indicated a 39.33% increase due tonoxEoverexpression. At the same time, the glycerol yield also was reduced by 53.85% on account of the decrease in the NADH pool caused by overexpression ofnoxE.

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