Systematic Modeling of Rotor-Driving Dynamics for Small Unmanned Aerial Vehicles

2018 ◽  
Vol 06 (02) ◽  
pp. 81-93
Author(s):  
Limin Wu ◽  
Yijie Ke ◽  
Ben M. Chen
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Frequency Domain ◽  
Frequency Domain Analysis ◽  
Speed Controller ◽  
Aerial Vehicles ◽  
Dynamics And Control ◽  
Semi Empirical ◽  
And Control ◽  
Cifer Software ◽  
Systematic Modeling

This paper proposes a systematic modeling approach of rotor-driving dynamics for small unmanned aerial vehicles (UAVs) based on system identification and first principle-based methods. Both steady state response analyses and frequency-domain identifications are conducted for the rotor, and Comprehensive Identification from Frequency Responses (CIFER) software is mainly utilized for the frequency-domain analysis. Moreover, a novel semi-empirical model integrating the rotor and the electrical speed controller is presented and validated. The demonstrated results and model are promising in UAV dynamics and control applications.

Modeling and control of a quadrotor tail-sitter unmanned aerial vehicles

2021 ◽  
pp. 095965182110504
Author(s):  
Hongbo Xin ◽  
Yujie Wang ◽  
Xianzhong Gao ◽  
Qingyang Chen ◽  
Bingjie Zhu ◽  
...  
Keyword(s):  
Control System ◽  
Unmanned Aerial Vehicles ◽  
Unmanned Aerial Vehicle ◽  
Euler Angle ◽  
Level Flight ◽  
Aerial Vehicles ◽  
Flight Mode ◽  
Aerial Vehicle ◽  
Hover Flight ◽  
And Control

The tail-sitter unmanned aerial vehicles have the advantages of multi-rotors and fixed-wing aircrafts, such as vertical takeoff and landing, long endurance and high-speed cruise. These make the tail-sitter unmanned aerial vehicle capable for special tasks in complex environments. In this article, we present the modeling and the control system design for a quadrotor tail-sitter unmanned aerial vehicle whose main structure consists of a traditional quadrotor with four wings fixed on the four rotor arms. The key point of the control system is the transition process between hover flight mode and level flight mode. However, the normal Euler angle representation cannot tackle both of the hover and level flight modes because of the singularity when pitch angle tends to [Formula: see text]. The dual-Euler method using two Euler-angle representations in two body-fixed coordinate frames is presented to couple with this problem, which gives continuous attitude representation throughout the whole flight envelope. The control system is divided into hover and level controllers to adapt to the two different flight modes. The nonlinear dynamic inverse method is employed to realize fuselage rotation and attitude stabilization. In guidance control, the vector field method is used in level flight guidance logic, and the quadrotor guidance method is used in hover flight mode. The framework of the whole system is established by MATLAB and Simulink, and the effectiveness of the guidance and control algorithms are verified by simulation. Finally, the flight test of the prototype shows the feasibility of the whole system.

Design And Control Of Plasma Actuated Unmanned Aerial Vehicles (UAV)

2017 ◽  
Author(s):  
Magesh T. Rajan ◽  
Hao Xu ◽  
Clyde Avalos ◽  
Anthony Matheson ◽  
Eric Swinny
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Aerial Vehicles ◽  
And Control

Sensorship: the seen unseen of drone warfare

2016 ◽  
Author(s):  
Tom Holert
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Military Operations ◽  
Legal Problems ◽  
Aerial Vehicles ◽  
Drone Warfare ◽  
And Control ◽  
The Military ◽  
Blind Spots

Contemporary warfare has been significantly transformed by the promotion and implementation of unmanned aerial vehicles (or drones) into global military operations. Networked remote sensory vision and the drones’ capability to carry deadly missiles entail and facilitate increasingly individualised, racialised, and necropolitical military practices conceptualised as ‘surgical strikes’ or ‘targeted killings’, all in the name of ‘counterinsurgency’. In the absence of publicly accessible documentations of ‘drone vision’, images of drones themselves constitute what is arguably one of the most contested iconographies of the present. The ethical and legal problems engendered by the virtualisation of violence and the panoptical fantasies of persistent vision and continuous threat interfere with the commercial interests and the publicised ideas of ‘clean’ warfare of the military-industrial-media complex. Drones have become a fetishised icon of warfare running out of human measure and control and are henceforth challenged by activist strategies highlighting the blind spots and victims of their deployment.

scholarly journals Design and Analysis of Collaborative Unmanned Surface-Aerial Vehicle Cruise Systems

2019 ◽  
Vol 2019 ◽  
pp. 1-10 ◽  
Author(s):  
Man Zhu ◽  
Yuan-Qiao Wen
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Command And Control ◽  
Collaborative Model ◽  
Weighting Method ◽  
Unmanned Surface Vehicle ◽  
Control Networks ◽  
Aerial Vehicles ◽  
Aerial Vehicle ◽  
And Control

With the increasing application of unmanned surface vehicle-unmanned aerial vehicles (USV-UAVs) in maritime supervision, research on their deployment and control is becoming vitally important. We investigate the application of USV-UAVs for synergistic cruising and evaluate the effectiveness of the proposed collaborative model. First, we build a collaborative model consisting of the cruise vehicles and communication, detection, and command-and-control networks for the USV-UAV. Second, based on an analysis of the problems faced by collaborative USV-UAV systems, we establish a model to evaluate the effectiveness of such synergistic cruises. Third, we propose a weighting method for each evaluation factor. Finally, a model consisting of one UAV and four USVs is employed to validate our synergistic cruise model.

Multi-UAV Specification and Control with a Single Pilot-in-the-Loop

2020 ◽  
Vol 08 (04) ◽  
pp. 269-277
Author(s):  
Patricio Moreno ◽  
Santiago Esteva ◽  
Ignacio Mas ◽  
Juan I. Giribet
Keyword(s):  
Remote Control ◽  
Unmanned Aerial Vehicles ◽  
Field Experiments ◽  
Aerial Vehicles ◽  
Simulated Environment ◽  
Aerial Vehicle ◽  
Space Formulation ◽  
Trajectory Following ◽  
And Control ◽  
Multi Uav

This work presents a multi-unmanned aerial vehicle formation implementing a trajectory-following controller based on the cluster-space robot coordination method. The controller is augmented with a feed-forward input from a control station operator. This teleoperation input is generated by means of a remote control, as a simple way of modifying the trajectory or taking over control of the formation during flight. The cluster-space formulation presents a simple specification of the system’s motion and, in this work, the operator benefits from this capability to easily evade obstacles by means of controlling the cluster parameters in real time. The proposed augmented controller is tested in a simulated environment first, and then deployed for outdoor field experiments. Results are shown in different scenarios using a cluster of three autonomous unmanned aerial vehicles.

scholarly journals The Wane of Command: Evidence on Drone Strikes and Control within Terrorist Organizations

2020 ◽  
pp. 1-20
Author(s):  
ANOUK S. RIGTERINK
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Natural Experiment ◽  
Terrorist Attacks ◽  
Terrorist Organizations ◽  
Aerial Vehicles ◽  
Terrorist Groups ◽  
Drone Strikes ◽  
And Control ◽  
The Impact ◽  
Better Than

This paper investigates how counterterrorism targeting terrorist leaders affects terrorist attacks. This effect is theoretically ambiguous and depends on whether terrorist groups are modeled as unitary actors or not. The paper exploits a natural experiment provided by strikes by Unmanned Aerial Vehicles (drones) “hitting” and “missing” terrorist leaders in Pakistan. Results suggest that terrorist groups increase the number of attacks they commit after a drone “hit” on their leader compared with after a “miss.” This increase is statistically significant for 3 out of 6 months after a hit, when it ranges between 47.7% and 70.3%. Additional analysis of heterogenous effects across groups and leaders, and the impact of drone hits on the type of attack, terrorist group infighting, and splintering, suggest that principal-agent problems—(new) terrorist leaders struggling to control and discipline their operatives—account for these results better than alternative theoretical explanations.

Self-Powered Solar Aerial Vehicles: Towards Infinite Endurance UAVs

2020 ◽  
Vol 08 (02) ◽  
pp. 95-117 ◽  
Author(s):  
Farbod Khoshnoud ◽  
Ibrahim I. Esat ◽  
Clarence W. de Silva ◽  
Jason D. Rhodes ◽  
Alina A. Kiessling ◽  
...  
Keyword(s):  
Solar Energy ◽  
Optimal Solution ◽  
Power Demand ◽  
Aerial Vehicles ◽  
Duty Cycles ◽  
Dynamics And Control ◽  
Aerial Vehicle ◽  
Self Powered ◽  
And Control ◽  
Long Endurance

A self-powered scheme is explored for achieving long-endurance operation, with the use of solar power and buoyancy lift. The end goal is the capability of “infinite” endurance while complying with the Unmanned Aerial Vehicle (UAV) dynamics and the required control performance, maneuvering, and duty cycles. Nondimensional power terms related to the UAV power demand and solar energy input are determined in a framework of Optimal Uncertainty Quantification (OUQ). OUQ takes uncertainties and incomplete information in the dynamics and control, available solar energy, and the electric power demand of a solar UAV model into account, and provides an optimal solution for achieving a self-sustained system in terms of energy. Self-powered trajectory tracking, speed and control are discussed. Aerial vehicles of this class can overcome the flight time limitations of current electric UAVs, thereby meeting the needs of many applications. This paper serves as a reference in providing a generalized approach in design of self-powered solar electric multi-rotor UAVs.

Sign in / Sign up

Export Citation Format

Share Document