scholarly journals A Robust Control Strategy for Landing an Unmanned Aerial Vehicle on a Vertically Moving Platform

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-13
Author(s):  
Carlos Aguilar-Ibanez ◽  
Miguel S. Suarez-Castanon ◽  
Octavio Gutierrez-Frias ◽  
Jose de Jesus Rubio ◽  
Jesus A. Meda-Campana
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Repulsive Force ◽  
Observer Design ◽  
Separation Principle ◽  
Robust Controller ◽  
Control Approach ◽  
Finite Time Convergence ◽  
Aerial Vehicle ◽  
Moving Platform ◽  
Tracking Trajectory

In this work, we solve the uncertain unmanned aerial vehicle smooth landing problem over a moving platform, assuming that the aircraft position relative to the platform and its acceleration is always measurable. The landing task is carried out by an output-feedback robust controller, together with a repulsive force. The robust controller controls the nominal model, accomplishes the needed tracking trajectory, and counteracts the unknown uncertainties. To assure that the aircraft is always above the platform, we include a repulsive force that only works in a small vicinity of the platform. To estimate the relative aircraft velocity and platform acceleration, we use a supertwisting-based observer, assuring finite-time convergence of these signals. This fact allowed us to design the feedback state stabilizer independently of the observer design (in accordance with the separation principle). We confirmed the effectiveness of our control approach by convincing numerical simulations.

scholarly journals Typical Fault Estimation and Dynamic Analysis of a Leader-Follower Unmanned Aerial Vehicle Formation

2021 ◽  
Vol 2021 ◽  
pp. 1-16
Author(s):  
Jian Shen ◽  
Qingyu Zhu ◽  
Xiaoguang Wang ◽  
Pengyun Chen
Keyword(s):  
Dynamic Analysis ◽  
Unmanned Aerial Vehicle ◽  
Cooperative Control ◽  
Health Management ◽  
Fault Tolerant ◽  
Design Method ◽  
Observer Design ◽  
Fault Estimation ◽  
Proportional Navigation ◽  
Aerial Vehicle

In this paper, the typical fault estimation and dynamic analysis are presented for a leader-follower unmanned aerial vehicle (UAV) formation system with external disturbances. Firstly, a dynamic model with proportional navigation guidance (PNG) control of the UAV formation is built. Then, an intermediate observer design method is adopted to estimate the system states and faults simultaneously. Based on the graph theory, the topology relationship between each node in the UAV formation has been also analyzed. The estimator and the system error have been created. Moreover, the typical faults, including the components failure, airframe damage, communication failure, formation collision, and environmental impact, are also discussed for the UAV system. Based on the fault-tolerant strategy, five familiar fault models are proposed from the perspectives of fault estimation, dynamical disturbances, and formation cooperative control. With an analysis of the results of states and faults estimation, the actuator faults can be estimated precisely with component failure and wind disturbances. Furthermore, the basic dynamic characteristics of the UAV formation are discussed. Besides, a comparison of two cases related to the wind disturbance has been accomplished to verify the performance of the fault estimator and controller. The results illustrate the credibility and applicability of the fault estimation and dynamic control strategies for the UAV system which are proposed in this paper. Finally, an extension about the UAV formation prognostic health management system is expounded from the point of view of the fault-tolerant control, dynamic modeling, and multifault estimation.

Tracking control of multiple unmanned aerial vehicles incorporating disturbance observer and model predictive approach

2019 ◽  
Vol 42 (5) ◽  
pp. 951-964 ◽  
Author(s):  
Boyang Zhang ◽  
Xiuxia Sun ◽  
Shuguang Liu ◽  
Xiongfeng Deng
Keyword(s):  
Model Predictive Control ◽  
Unmanned Aerial Vehicle ◽  
Predictive Control ◽  
Disturbance Observer ◽  
Control Method ◽  
Differential Evolution Algorithm ◽  
Reference Trajectory ◽  
Control Approach ◽  
Unknown Disturbances ◽  
Aerial Vehicle

This paper studies the disturbance observer-based model predictive control approach to deal with the unmanned aerial vehicle formation flight with unknown disturbances. The distributed control problem for a class of multiple unmanned aerial vehicle systems with reference trajectory tracking and disturbance rejection is formulated. Firstly, a local distributed controller is designed by using the model predictive control method to achieve stable tracking, where the local optimization problem is solved by an adaptive differential evolution algorithm. Then, a feedforward compensation controller is introduced by using a disturbance observer to estimate and compensate disturbances, and improve the ability of anti-interference. Besides, the stability of the proposed composite controller is analyzed as well. Finally, the simulation examples are provided to illustrate the validity of proposed control structure.

scholarly journals Robust Hybrid Control Algorithm for Tuning the Altitude and Attitude of Unmanned Aerial Vehicle

2020 ◽  
Vol 2020 ◽  
pp. 1-8
Author(s):  
Bohang Wang ◽  
Daobo Wang
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Control Algorithm ◽  
Degrees Of Freedom ◽  
Hybrid Control ◽  
Pole Placement ◽  
Robust Controller ◽  
State Behavior ◽  
Nonlinear Parameters ◽  
Six Degrees Of Freedom ◽  
Aerial Vehicle

In this article, a new and novel robust hybrid control algorithm is designed for tuning the parameters of unmanned aerial vehicle (UAV). The quadrotor type UAV mathematical model is taken to observe the effectiveness of our designed robust hybrid control algorithm. The robust hybrid control algorithm consists of H∞ based regulation, pole-placement and tracking (RST) controller along with mixed sensitivity function is applied to control the complete model of UAV. The selected rotor craft is under-actuated, nonlinear and multivariable behavior in nature along with six degrees of freedom (DOF). Due to all these aforementioned issues its stabilization is quite difficult as compared to fully actuated systems. For the tuning of nonlinear parameters of the UAV, we designed, robust hybrid control algorithm is used. Moreover, the performance of the designed controller is compared with robust controller. The validity and effectiveness of the designed controllers are simulated in MATLAB and Simulink, in which the designed controller shows better steady state behavior, robustness and converges quickly in specific amount of time as compared to robust controller.

A terrain-following control approach for a VTOL Unmanned Aerial Vehicle using average optical flow

2010 ◽  
Vol 29 (3-4) ◽  
pp. 381-399 ◽  
Author(s):  
Bruno Hérissé ◽  
Tarek Hamel ◽  
Robert Mahony ◽  
François-Xavier Russotto
Keyword(s):  
Optical Flow ◽  
Unmanned Aerial Vehicle ◽  
Control Approach ◽  
Terrain Following ◽  
Aerial Vehicle

scholarly journals Synthesis of invariant circuit angular stabilization of unmanned aircraft at the pitch angle

2020 ◽  
pp. 14-20
Author(s):  
I. V. Rozhkov
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Pitch Angle ◽  
Pid Controller ◽  
Inverse Dynamics ◽  
Unmanned Aircraft ◽  
Synthesis Methods ◽  
Invariant System ◽  
Robust Controller ◽  
Aerial Vehicle ◽  
Dynamics Problems

The article considers the synthesis methods of an automatic invariant system of the pitch angle stabilization of an unmanned aerial vehicle that is based on the concept of inverse dynamics problems. The methods and results of simulation mathematical results of synthesized stabilization loop with using the Simulink of program MATLAB. The results of a comparative analysis of the dynamic characteristics of the contour of angular stabilization of an unmanned aerial vehicle by pitch angle with a PID-controller and a synthesized robust controller are presented.

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