scholarly journals Autonomous controller design for unmanned aerial vehicles using multi-objective genetic programming

2005 ◽  
Author(s):  
C.K. Oh ◽  
G.J. Barlow
Keyword(s):  
Genetic Programming ◽  
Unmanned Aerial Vehicles ◽  
Controller Design ◽  
Multi Objective ◽  
Aerial Vehicles

Search Strategies and Specifications in a Swarm versus Swarm Context

Robotica ◽  
2021 ◽  
pp. 1-17
Author(s):  
Ali Moltajaei Farid ◽  
Md Abdus Samad Kamal ◽  
Simon Egerton
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Search Strategies ◽  
Numerical Results ◽  
Communication Range ◽  
Multi Objective ◽  
Aerial Vehicles ◽  
Multiple Swarms

SUMMARY This paper proposes and evaluates swarming mechanisms of patrolling unmanned aerial vehicles (UAVs) that can collectively search a region for intruding UAVs. The main contributions include the development of multi-objective searching strategies and investigation of the required sensor configurations for the patrolling UAVs. Numerical results reveal that it is sometimes better to search through a region with a single swarm rather than multiple swarms deployed over sub-regions. Moreover, a large communication range does not necessarily improve search performances, and the patrolling swarm must have a speed close to the speed of the intruding UAVs to maximize the search performances.

Multi-objective Lyapunov-based controller design for nonlinear systems via genetic programming

2021 ◽  
Author(s):  
Mir Masoud Ale Ali ◽  
A. Jamali ◽  
A. Asgharnia ◽  
R. Ansari ◽  
Rammohan Mallipeddi
Keyword(s):  
Nonlinear Systems ◽  
Genetic Programming ◽  
Controller Design ◽  
Multi Objective

Design and flight-stability analysis of a closed fixed-wing unmanned aerial vehicle formation controller

2018 ◽  
Vol 233 (8) ◽  
pp. 1045-1054 ◽  
Author(s):  
Jialong Zhang ◽  
Bing Xiao ◽  
Maolong Lv ◽  
Qiang Zhang
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Collision Avoidance ◽  
High Speed ◽  
Physical Simulation ◽  
Controller Design ◽  
Formation Flight ◽  
External Factors ◽  
Flight Stability ◽  
Aerial Vehicles ◽  
Closed Formation

This article addresses a flight-stability problem for the multiple unmanned aerial vehicles cooperative formation flight in the process of the closed and high-speed flight. The main objective is to design a cooperative formation controller with known external factors, and this controller can keep the consensus of attitude and position and reduce the communication delay between any two unmanned aerial vehicles and increase unmanned aerial vehicles formation cruise time under the known external factors. Known external factors are taken into consideration, and longitude maneuvers using nonlinear thrust vectors were employed with unsteady aerodynamic models, according to the attitude and position of unmanned aerial vehicles, which were employed as corresponding input signals for studying the dynamic characteristics of unmanned aerial vehicles formation flight. In addition, the relative distance between any two unmanned aerial vehicles was not allowed to exceed their safe distance so that the controller could perform collision avoidance. An analysis of formation flight distance error shows that it converged to a fixed value that well ensured unmanned aerial vehicles formation flight stability. The experimental results show that the controller can improve the speed of a closed formation effectively and maintain the stability of formation flight, which provides a method for closed formation flight controller design and collision avoidance for any two unmanned aerial vehicles. Meanwhile, the effectiveness of proposed controller is fully proved by semi-physical simulation platform.

scholarly journals Pareto Optimal PID Tuning for Px4-Based Unmanned Aerial Vehicles by Using a Multi-Objective Particle Swarm Optimization Algorithm

Aerospace ◽  
2020 ◽  
Vol 7 (6) ◽  
pp. 71
Author(s):  
Victor Gomez ◽  
Nicolas Gomez ◽  
Jorge Rodas ◽  
Enrique Paiva ◽  
Maarouf Saad ◽  
...  
Keyword(s):  
Particle Swarm Optimization ◽  
Unmanned Aerial Vehicles ◽  
Particle Swarm ◽  
Swarm Optimization ◽  
Multi Objective ◽  
Pid Tuning ◽  
Aerial Vehicles ◽  
The Stability ◽  
Selection Of

Unmanned aerial vehicles (UAVs) are affordable these days. For that reason, there are currently examples of the use of UAVs in recreational, professional and research applications. Most of the commercial UAVs use Px4 for their operating system. Even though Px4 allows one to change the flight controller structure, the proportional-integral-derivative (PID) format is still by far the most popular choice. A selection of the PID controller parameters is required before the UAV can be used. Although there are guidelines for the design of PID parameters, they do not guarantee the stability of the UAV, which in many cases, leads to collisions involving the UAV during the calibration process. In this paper, an offline tuning procedure based on the multi-objective particle swarm optimization (MOPSO) algorithm for the attitude and altitude control of a Px4-based UAV is proposed. A Pareto dominance concept is used for the MOPSO to find values for the PID comparing parameters of step responses (overshoot, rise time and root-mean-square). Experimental results are provided to validate the proposed tuning procedure by using a quadrotor as a case study.

Robust fixed-time formation control for quadrotor unmanned aerial vehicles with directed topology

2021 ◽  
pp. 014233122110325
Author(s):  
Shikai Shao ◽  
Yuanjie Zhao ◽  
Xiaojing Wu
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Finite Time ◽  
Formation Control ◽  
Controller Design ◽  
Initial Conditions ◽  
Fixed Time ◽  
Settling Time ◽  
Lyapunov Theory ◽  
Directed Topology ◽  
Aerial Vehicles

Formation control is one of the key technologies for multiple unmanned aerial vehicles (UAVs). Compared with asymptotic or finite-time controllers, fixed-time controller can provide a guaranteed settling time, which does not depend on initial conditions and is an appealing property for controller design. Thus, robust fixed-time formation controller design for quadrotor UAVs under external disturbance and directed topology is investigated in this paper. A multi-variable super-twisting like integral sliding mode surface and a disturbance observer are respectively designed for position and attitude loops to guarantee robustness. Bi-limit homogeneity is utilized to design the whole closed-loop fixed-time controllers. By skillfully using bi-limit homogeneity technique and Lyapunov theory, the comprehensive stability of position and attitude loops is addressed. Finally, the multiple UAVs are utilized to track a pre-planned trajectory in 3D space and simulation results illustrate that the settling time can be reduced about 40% compared with finite-time controllers.

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