scholarly journals Distributed Control of Networked Unmanned Aerial Vehicles for Valley Area Coverage

2016 ◽  
Vol 2016 ◽  
pp. 1-12
Author(s):  
Mengji Shi ◽  
Kaiyu Qin
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Distributed Control ◽  
A Priori ◽  
Future Research ◽  
Control Law ◽  
Full Coverage ◽  
Aerial Vehicles ◽  
Crash Avoidance ◽  
Pass Through ◽  
Valley Area

The paper provides a novel cooperative motion scheme for networked Unmanned Aerial Vehicles (UAVs) to fully sweep-cover a priori unknown elongated areas with curved borders, which are termed “valley areas.” The UAVs’ motion is confined between the borders. Different from former research on straight-corridor-sweep-coverage, in each valley area, the width of different portions varies dramatically: the UAVs need to line up across the valley area to achieve full coverage of the widest portions while they can only pass through the narrowest parts one by one in a queue. The UAVs are provided with barrier detection and inter-UAV communication. According to the scheme, a distributed control law has been offered for discrete-time multi-UAV systems, guaranteeing crash avoidance and full coverage while considering the constrained mobility of the UAVs. Regular and extreme simulations are carried out to verify the efficacy and stability of the proposed algorithm. Solutions to U-shaped valley coverage and the case of insufficient UAVs available are discussed with validation simulations. Comparison simulations are conducted with respect to a line-sweep-coverage algorithm developed by a closely related work, and differences in performance are revealed subsequently. Conclusions are drawn with possible directions of future research.

Blockchain Towards Secure UAV-Based Systems

2021 ◽  
pp. 149-174
Author(s):  
lamia Chaari Fourati ◽  
Mohamed Fourati ◽  
Bilel Najeh ◽  
Aicha Idriss
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Use Cases ◽  
Future Research ◽  
Research Directions ◽  
Smart Systems ◽  
Aerial Vehicles ◽  
Future Research Directions ◽  
New Challenges

During this last decade, the blockchain (BC) paradigm has been required in several use cases and scenarios in particular for security, privacy, and trust provisioning. Accordingly, several studies proposed the use of BC technology to secure and to assure the trustworthiness of unmanned aerial vehicles (UAVs). In this context, this chapter highlights several applications and scenarios for the deployment of UAVs within diverse smart systems. In addition, it illustrates the advantages of the integration of the BC within UAVs-based smart systems. This integration reveals new challenges and future research directions that are discussed in this chapter.

scholarly journals Performance analysis of nonlinear observers applied to the fixed-wing unmanned aerial vehicles flight under decoupled-reduced model

2017 ◽  
Vol 9 (2) ◽  
pp. 111-123 ◽  
Author(s):  
Ricardo P Parada ◽  
A Tadeo Espinoza ◽  
Alejandro E Dzul ◽  
Francisco G Salas
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Flight Control ◽  
Sliding Mode ◽  
Reduced Model ◽  
Control Law ◽  
Extended State ◽  
Nonlinear Observers ◽  
Design And Implementation ◽  
Aerial Vehicles ◽  
Nonlinear Extended State Observer

In this paper, we present the design and implementation of two nonlinear observers: nonlinear extended state observer and sliding mode observer for estimating the pitch, yaw and roll angles and angular rates of a fixed-wing unmanned aerial vehicles system under a decoupled-reduced model in real flight experiments. A backstepping control law is designed for control in a decentralized way for altitude, yaw and roll of the airplane. This scheme allows us to test experimentally the feasibility of using the online estimated data from the observers in flight control, which is useful for increasing the robustness of the control and the safety of flight. Furthermore, a comparative analysis of the performance of both nonlinear observers is conducted.

scholarly journals Study on Composing Dense Formations in a Dynamic Environment of Multirotor UAVs by Distributed Control

2018 ◽  
Vol 2018 ◽  
pp. 1-8
Author(s):  
Shudao Zhou ◽  
Ao Shen ◽  
Min Wang ◽  
Shuling Peng ◽  
Zhanhua Liu
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Dynamic Model ◽  
Distributed Control ◽  
Distributed Algorithm ◽  
Search Algorithm ◽  
Dynamic Environment ◽  
Step Motion ◽  
Aerial Vehicles ◽  
Path Search ◽  
The Membership Function

In order to make multirotor unmanned aerial vehicles (UAV) compose a desired dense formation and improve the practicality of UAV formation, a distributed algorithm based on fuzzy logic was proposed. The airflow created by multirotor UAVs was analyzed according to the structure of the multirotor UAV and the characteristic equation of the fluid. This paper presented a dynamic model for the process of formation of and path search algorithm based on this model. The membership function in this model combines the factors of position, flow field, and movement. Integrating the dynamic model and its desired position in formations, each UAV evaluates the surrounding points and then selects the direction for step motion. Through simulation, this algorithm was improved by a by-step formation approach, and the effectiveness of this method in dense formation of multirotor UAVs was proved.

Non-linear flight control for unmanned aerial vehicles using adaptive backstepping based on invariant manifolds

2012 ◽  
Vol 227 (1) ◽  
pp. 33-44 ◽  
Author(s):  
Jiaming Zhang ◽  
Qing Li ◽  
Nong Cheng ◽  
Bin Liang
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Invariant Manifolds ◽  
Backstepping Control ◽  
Linear Estimator ◽  
Control Law ◽  
Adaptive Backstepping ◽  
Adaptive Backstepping Control ◽  
Aerial Vehicles ◽  
Non Linear ◽  
Aerodynamic Parameters

A novel adaptive backstepping control scheme based on invariant manifolds for unmanned aerial vehicles in the presence of some uncertainties in the aerodynamic coefficients is presented in this article. This scheme is used for command tracking of the angle of attack, the sideslip angle, and the bank angle of the aircraft. The control law has a modular structure, which consists of a control module and a recently developed non-linear estimator. The estimator is based on invariant manifolds, which allows for prescribed dynamics to be assigned to the estimation error. The adaptive backstepping control law combined with the estimator covers the entire flight envelope and does not require accurate aerodynamic parameters. The stability of the whole closed-loop system is analyzed using the Lyapunov stability theory. The full six-degree-of-freedom non-linear model of a small unmanned aerial vehicle is used to demonstrate the effectiveness of the proposed control law. The numerical simulation result shows that this method can yield satisfying command tracking despite some unknown aerodynamic parameters.

scholarly journals Computationaly Simple Obstacle Avoidance Control Law for Small Unmanned Aerial Vehicles

2015 ◽  
Vol 9 (1) ◽  
pp. 50-56 ◽  
Author(s):  
Jakub Cieśluk ◽  
Zdzisław Gosiewski ◽  
Leszek Ambroziak ◽  
Sławomir Romaniuk
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Obstacle Avoidance ◽  
Imaging System ◽  
Information Source ◽  
Digital Camera ◽  
Control Law ◽  
Simulation Studies ◽  
Aerial Vehicles ◽  
Avoidance Control ◽  
Computational Simplicity

Abstract The investigations of the system which allow to avoid obstacles by the unmanned aerial vehicles (UAV) are presented in the paper. The system is designed to enable the full autonomous UAV flight in an unknown environment. As an information source about obstacles digital camera was used. Developed algorithm uses the existing relations between the imaging system and the parameters read from the UAV autopilot. Synthesis of the proposed obstacle avoidance control law was oriented for computational simplicity. Presented algorithm was checked during simulation studies and in-flight tests.

scholarly journals Design and development of an on-board autonomous visual tracking system for unmanned aerial vehicles

Aviation ◽  
2017 ◽  
Vol 21 (3) ◽  
pp. 83-91 ◽  
Author(s):  
Narsimlu KEMSARAM ◽  
Venkata Rajini Kanth THATIPARTI ◽  
Devendra Rao GUNTUPALLI ◽  
Anil KUVVARAPU
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Visual Tracking ◽  
Tracking System ◽  
Tracking Algorithm ◽  
Control Law ◽  
State Estimator ◽  
Camera Control ◽  
Guidance Law ◽  
Aerial Vehicles ◽  
Multi Level

This paper proposes the design and development of an on-board autonomous visual tracking system (AVTS) for unmanned aerial vehicles (UAV). A prototype of the proposed system has been implemented in MATLAB/ Simulink for simulation purposes. The proposed system contains GPS/INS sensors, a gimbaled camera, a multi-level autonomous visual tracking algorithm, a ground stationary target (GST) or ground moving target (GMT) state estimator, a camera control algorithm, a UAV guidance algorithm, and an autopilot. The on-board multi-level autonomous visual tracking algorithm acquires the video frames from the on-board camera and calculates the GMT pixel position in the video frame. The on-board GMT state estimator receives the GMT pixel position from the multi-level autonomous visual tracking algorithm and estimates the current position and velocity of the GMT with respect to the UAV. The on-board non-linear UAV guidance law computes the UAV heading velocity rates and sends them to the autopilot to steer the UAV in the desired path. The on-board camera control law computes the control command and sends it to the camera's gimbal controller to keep the GMT in the camera's field of view. The UAV guidance law and camera control law have been integrated for continuous tracking of the GMT. The on-board autopilot is used for controlling the UAV trajectory. The simulation of the proposed system was tested with a flight simulator and the UAV's reaction to the GMT was observed. The simulated results prove that the proposed system tracks a GST or GMT effectively.

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