scholarly journals Dynamic Stability and Control of a Manipulating Unmanned Aerial Vehicle

2018 ◽  
Vol 2018 ◽  
pp. 1-13 ◽  
Author(s):  
Yunping Liu ◽  
Xijie Huang ◽  
Yonghong Zhang ◽  
Yukang Zhou
Keyword(s):  
Stability Analysis ◽  
Lyapunov Exponent ◽  
Dynamic Stability ◽  
Unmanned Aerial Vehicle ◽  
Impedance Control ◽  
System Stability ◽  
Constructive Method ◽  
Aerial Vehicle ◽  
And Control ◽  
The Impact

This paper focuses on the dynamic stability analysis of a manipulator mounted on a quadrotor unmanned aerial vehicle, namely, a manipulating unmanned aerial vehicle (MUAV). Manipulator movements and environments interaction will extremely affect the dynamic stability of the MUAV system. So the dynamic stability analysis of the MUAV system is of paramount importance for safety and satisfactory performance. However, the applications of Lyapunov’s stability theory to the MUAV system have been extremely limited, due to the lack of a constructive method available for deriving a Lyapunov function. Thus, Lyapunov exponent method and impedance control are introduced, and the Lyapunov exponent method can establish the quantitative relationships between the manipulator movements and the dynamics stability, while impedance control can reduce the impact of environmental interaction on system stability. Numerical simulation results have demonstrated the effectiveness of the proposed method.

scholarly journals Dynamic Stability Performance of Autonomous Microgrid Involving High Penetration Level of Constant Power Loads

Mathematics ◽  
2021 ◽  
Vol 9 (9) ◽  
pp. 922
Author(s):  
Mohamed Hassan ◽  
Muhammed Worku ◽  
Abdelfattah Eladl ◽  
Mohammed Abido
Keyword(s):  
Dynamic Stability ◽  
Power Sharing ◽  
Constant Power ◽  
Similar Frequency ◽  
Stability Performance ◽  
High Penetration ◽  
Constant Power Loads ◽  
The Time Domain ◽  
And Control ◽  
The Impact

Nowadays, behaving as constant power loads (CPLs), rectifiers and voltage regulators are extensively used in microgrids (MGs). The MG dynamic behavior challenges both stability and control effectiveness in the presence of CPLs. CPLs characteristics such as negative incremental resistance, synchronization, and control loop dynamic with similar frequency range of the inverter disturb severely the MG stability. Additionally, the MG stability problem will be more sophisticated with a high penetration level of CPLs in MGs. The stability analysis becomes more essential especially with high-penetrated CPLs. In this paper, the dynamic stability performance of an MG involving a high penetration level of CPLs is analyzed and investigated. An autonomous MG engaging a number of CPLs and inverter distributed generations (DGs) is modeled and designed using MATLAB. Voltage, current, and power controllers are optimally designed, controlling the inverter DGs output. A power droop controller is implemented to share the output DGs powers. Meanwhile, the current and voltage controllers are employed to control the output voltage and current of all DGs. A phase-locked loop (PLL) is essentially utilized to synchronize the CPLs with the MG. The controller gains of the inverters, CPLs, power sharing control, and PLL are optimally devised using particle swarm optimization (PSO). As a weighted objective function, the error in the DC voltage of the CPL and active power of the DG is minimized in the optimal problem based on the time-domain simulation. Under the presence of high penetrated CPLs, all controllers are coordinately tuned to ensure an enhanced dynamic stability of the MG. The impact of the highly penetrated CPLs on the MG dynamic stability is investigated. To confirm the effectiveness of the proposed technique, different disturbances are applied. The analysis shows that the MG system experiences the instability challenges due to the high penetrated CPLs. The simulation results confirm the effectiveness of the proposed method to improve the MG dynamic stability performance.

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.

scholarly journals A numerical study into the longitudinal dynamic stability of the tailless aircraft

2019 ◽  
Vol 91 (3) ◽  
pp. 428-436 ◽  
Author(s):  
Agnieszka Kwiek
Keyword(s):  
Stability Analysis ◽  
Dynamic Stability ◽  
Numerical Study ◽  
Aircraft Design ◽  
Content Type ◽  
Preliminary Stage ◽  
Longitudinal Dynamic ◽  
Stability Derivatives ◽  
The Impact ◽  
Tailless Aircraft

Purpose The purpose of this research is a study into a mathematical approach of a tailless aircraft dynamic stability analysis. This research is focused on investigation of influence of elevons (elevator) on stability derivatives and consequently on the aircraft longitudinal dynamic stability. The main research question is to determine whether this impact should be taken into account on the conceptual and preliminary stage of the analysis of the longitudinal dynamic stability. Design/methodology/approach Aerodynamic coefficients and longitudinal stability derivatives were computed by Panukl (panel methods). The analysis of the dynamic stability of the tailless aircraft was made by the Matlab code and SDSA package. Findings The main result of the research is a comparison of the dynamic stability of the tailless aircraft for different approaches, with and without the impact of elevator deflection on the trim drag and stability derivatives. Research limitations/implications This paper presents research that mostly should be considered on the preliminary stage of aircraft design and dynamic stability analysis. The impact of elevons deflection on the aircraft moment of inertia has been omitted. Practical implications The results of this research will be useful for the further design of small tailless unmanned aerial vehicles (UAVs). Originality/value This research reveals that in case of the analysis of small tailless UAVs, the impact of elevons deflection on stability derivatives is bigger than the impact of a Mach number. This impact should be taken into consideration, especially for a phugoid mode.

Development of Autonomous Quad-Tilt-Wing (QTW) Unmanned Aerial Vehicle: Design, Modeling, and Control

2010 ◽  
pp. 77-93 ◽  
Author(s):  
Kenzo Nonami ◽  
Farid Kendoul ◽  
Satoshi Suzuki ◽  
Wei Wang ◽  
Daisuke Nakazawa
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Vehicle Design ◽  
Modeling And Control ◽  
Aerial Vehicle ◽  
And Control

Modeling and control of a quadrotor unmanned aerial vehicle using type-2 fuzzy systems

2021 ◽  
pp. 25-46
Author(s):  
Ayad Al-Mahturi ◽  
Fendy Santoso ◽  
Matthew A. Garratt ◽  
Sreenatha G. Anavatti
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Fuzzy Systems ◽  
Modeling And Control ◽  
Aerial Vehicle ◽  
And Control

scholarly journals Conceptual design of an aircraft for Mars mission

2019 ◽  
Vol 91 (6) ◽  
pp. 886-892
Author(s):  
Agnieszka Kwiek
Keyword(s):  
Stability Analysis ◽  
Dynamic Stability ◽  
Conceptual Design ◽  
Design Stage ◽  
Content Type ◽  
Mars Mission ◽  
Longitudinal Dynamic ◽  
Short Period ◽  
The Impact ◽  
Tailless Aircraft

Purpose The purpose of this paper is to present the results of a conceptual design of Martian aircraft. This study focuses on the aerodynamic and longitudinal dynamic stability analysis. The main research questions are as follows: Does a tailless aircraft configuration can be used for Martian aircraft? How to the short period characteristic can be improved by side plates modification? Design/methodology/approach Because of a conceptual design stage of this Martian aircraft, aerodynamic characterises were computed by the Panukl package by using the potential flow model. The longitudinal dynamic stability was computed by MATLAB code, and the derivatives computed by the SDSA software were used as the input data. Different aircraft configurations have been studied, including different wing’s aerofoils and configurations of the side plate. Findings This paper presents results of aerodynamic characteristics computations and longitudinal dynamic stability analysis. This paper shows that tailless aircraft configuration has potential to be used as Martian aircraft. Moreover, the study of the impact of side plates’ configurations on the longitudinal dynamic stability is presented. This investigation reveals that the most effective method to improve the short period damping ratio is to change the height of the bottom plate. Practical implications The presented result might be useful in case of further design of the aircrafts for the Mars mission and designing the aircrafts in a tailless configuration. Social implications It is considered by the human expedition that Mars is the most probable planet to explore. This paper presents the conceptual study of aircraft which can be used to take the high-resolution pictures of the surface of Mars, which can be crucial to find the right place to establish a potential Martian base. Originality/value Most of aircrafts proposed for the Mars mission are designed in a configuration with a classic tail; this paper shows a preliminary calculation of the tailless Martian aircraft. Moreover, this paper shows the results of a dynamic stability analysis, where similar papers about aircrafts for the Mars mission do not show such outcomes, especially in the case of the tailless configuration. Moreover, this paper presents the results of the dynamic stability analysis of tailless aircraft with different configurations of the side plates.

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