scholarly journals On dynamic characteristics and stability analysis of the ducted fan unmanned aerial vehicles

2019 ◽  
Vol 16 (4) ◽  
pp. 172988141986701 ◽  
Author(s):  
Cheng Chen ◽  
Tiantian Dong ◽  
Weijie Fu ◽  
Na Liu
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Parameter Design ◽  
Structural Parameter ◽  
Structure Parameters ◽  
Mechanical Structure ◽  
Near Earth Space ◽  
Ducted Fan ◽  
Aerial Vehicles ◽  
The Stability ◽  
Dynamics Stability

This article researches the improvement of dynamics stability of the ducted fan unmanned aerial vehicles by optimizing its mechanical–structure parameters. The instability phenomenon of ducted fan unmanned aerial vehicles takes place frequently due to the complicated airflow in near-earth space, which easily leads to the stability problems, such as out of control, shaking, and loss accuracy of command tracking. The dynamics equations mirror its dynamics characteristics, which are primarily influenced by the mechanical–structure parameters of the whole system. Based on this, the optimization of mechanical–structure parameters has a significant to improve the dynamics stability of the whole system. Therefore, this article uses the concept of Lyapunov exponents to build the quantification relationship between system’s mechanical–structure parameters and its motion stability to enhance its stability from viewpoint of mechanical–structural parameter design. The takeoff, landing, and hovering stage are respectively studied and the conclusions suggest that the optimization of mechanical–structure parameters can be used to promote dynamics stability.

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.

Quick Estimates for Analysis and Prediction of the Flight Mechanics of Unmanned Aerial Vehicles

2012 ◽  
Vol 40 (2) ◽  
pp. 121-145 ◽  
Author(s):  
Mark Müller ◽  
Leon Liebenberg ◽  
Edward H. Mathews ◽  
Peter W. Young
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Engineering Students ◽  
Analytical Techniques ◽  
Flight Dynamics ◽  
Flight Mechanics ◽  
Design Stage ◽  
Longitudinal Dynamics ◽  
Design Engineers ◽  
Aerial Vehicles ◽  
The Stability

Unmanned aerial vehicles (UAVs) are commonly employed in undergraduate engineering curricula. Limited literature is, however, available for the lay design engineer or engineering student regarding the modelling, simulation and analysis of the flight dynamics of small UAV systems, especially pertaining to flight dynamics modelling. There is great demand for unskilled UAV designers to predict the stability of new designs, quickly, cheaply, and with relative ease, preferably during the conceptual design stage. This paper summarizes some salient techniques for performing quick characterization of the longitudinal dynamics of a small, electrically propelled UAV, by using freely available software such as Datcom+, AVL, XFLR5 and MotoCalc. The simulation outputs compare favourably with experimental results from a wind tunnel. The software was also used to provide accurate estimates of coefficients required for performing an analysis of the UAV's longitudinal dynamics. The proffered analytical techniques should greatly benefit lay design engineers and engineering students venturing into the realm of UAV research.

Stability and Performance Analysis of Six-Rotor Unmanned Aerial Vehicles in Wind Disturbance

2018 ◽  
Vol 13 (3) ◽  
Author(s):  
Xianying Li ◽  
Biao Zhao ◽  
Yu Yao ◽  
Hongtao Wu ◽  
Yunping Liu
Keyword(s):  
Performance Analysis ◽  
Simulation Model ◽  
Unmanned Aerial Vehicles ◽  
Lyapunov Exponents ◽  
Wind Disturbance ◽  
Flight Experiment ◽  
Aerial Vehicles ◽  
Simulation Results ◽  
And Performance ◽  
The Stability

The effect of wind disturbances on the stability of six-rotor unmanned aerial vehicles (UAVs) was investigated, exploring the various disturbances in different directions. The simulation model-based Euler–Poincare equation was established to investigate the spectra of Lyapunov exponents. Next, the value of the Lyapunov exponents was used to evaluate the stability of the systems. The results obtained show that the various speeds of rotors are optimized to keep up the stability after disturbances. In addition, the flight experiment with the hitting gust has been carried out to verify the validity and accuracy of the simulation results.

Distributed fault-tolerant formation control for multiple unmanned aerial vehicles under actuator fault and intermittent communication interrupt

2021 ◽  
pp. 095965182097908
Author(s):  
Bing Han ◽  
Ju Jiang ◽  
Chaojun Yu
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Formation Control ◽  
Fault Tolerant ◽  
Input Saturation ◽  
Actuator Faults ◽  
Aerial Vehicles ◽  
Multiple Unmanned Aerial Vehicles ◽  
The Stability ◽  
Intermittent Communication ◽  
Formation System

This article develops a distributed adaptive fault-tolerant formation control scheme for the multiple unmanned aerial vehicles to counteract actuator faults and intermittent communication interrupt, where the issues on control input saturation and mismatched uncertainties are also addressed. The discontinuous communication protocol technique is exploited to achieve the stability of the formation system, if the conditions of dwell time and the rate of communication are satisfied. On the basis of the local information of neighboring unmanned aerial vehicles, a novel distributed adaptive mechanism is designed to estimate the bounds of actuator faults and uncertainties, where the input saturation is explicitly taken into consideration. The stability of the whole formation system under the designed fault-tolerant formation control strategy is analyzed using the Lyapunov approach. Finally, simulation results are presented to illustrate the effectiveness of the proposed scheme.

scholarly journals Method for analyzing the stability of information transfer between unmanned aerial vehicles in the formation

2020 ◽  
Vol 11 (30) ◽  
pp. 125-136
Author(s):  
G. S. Vasilyev ◽  
O. R. Kuzichkin ◽  
I. A. Kurilov ◽  
D. I. Surzhik
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Information Exchange ◽  
Information Transfer ◽  
Transfer Functions ◽  
High Order ◽  
Piecewise Linear Approximation ◽  
Aerial Vehicles ◽  
Wide Range ◽  
Significant Difference ◽  
The Stability

The use of a formation consisting of adaptive autonomous mobile agents allows solving a wide range of tasks that are often beyond the capabilities of individual agents. A multi-agent formation is a complex high-order dynamic system, so analyzing the stability of such a system is a complex task. At present, the problem of estimating the stability of a formation formed by substantially nonlinear high-order agents with variable dynamic parameters is not sufficiently considered. This task is particularly important for a formation that is affected by complex unstable environmental conditions, in particular for the formation of unmanned aerial vehicles (UAVs). A method for analyzing the stability of formations of nonlinear agents with different types and orders of transfer function has been developed for studying information exchange in UAV networks. The new approach is based on the use of the Popov frequency criterion and the piecewise linear approximation of the hodograph. A computational experiment was performed to analyze the stability of a formation with transfer functions of various types and orders from the 1st to the 10th. The conducted studies revealed a significant difference in the calculated boundary coefficients of formation stability in the linear and nonlinear modes, which confirms the need to analyze the nonlinear stability under the influence of strong destabilizing influences on the formation.

Model decomposition-based optimal formation control for multiple unmanned aerial vehicles

2021 ◽  
pp. 014233122110430
Author(s):  
Khan Muhammad Shehzad ◽  
Hao Su ◽  
Gong-You Tang ◽  
Bao-Lin Zhang
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Formation Control ◽  
Controller Design ◽  
Feedforward Control ◽  
Position Information ◽  
Model Decomposition ◽  
Aerial Vehicles ◽  
Control Framework ◽  
Multiple Unmanned Aerial Vehicles ◽  
The Stability

This paper deals with the optimal formation control problem based on model decomposition for multiple unmanned aerial vehicles (UAVs). The main contribution of this paper is to integrate the formation control and the trajectory tracking into one unified feedforward control and feedback control framework in an optimal mode. We first establish the dynamic model of the leader-follower UAV formation system, and the communication network topology which only depends on the position information given by the leader. Second, to reduce the complexity of the model, each follower is decomposed into three isolated subsystems. Third, a step-by-step formation controller design scheme decomposed into feedforward control and optimal control of formation control is proposed. Finally, the proposed scheme has been extensively simulated and the results demonstrate the stability and the optimality.

scholarly journals MECHANISM OF ENSURING SAFE UAV MOVEMENT UNDER THE CONDITIONS OF RADIO ATTACKS

2020 ◽  
Vol 4 (157) ◽  
pp. 178-183
Author(s):  
L. Romaniuk ◽  
I. Chykhira
Keyword(s):  
Control System ◽  
Unmanned Aerial Vehicles ◽  
Unmanned Aerial Vehicle ◽  
Mechanism Of Formation ◽  
Electronic Warfare ◽  
Air Defense ◽  
Defense Systems ◽  
Aerial Vehicles ◽  
Aerial Vehicle ◽  
The Stability

Purpose. The aim of the article is to reveal the mechanism of formation of safe UAV movement in the conditions of radio attacks. Methodology. Scientists from Ternopil National Technical University named after Ivan Pulyuy have consistently developed and studied several mechanisms for the formation of safe movement of unmanned aerial vehicles in radio attacks in order to create a perfect model with which to launch UAVs in areas with high radio attack. As a result of previous work, the mechanism of formation of safe movement of UAVs in the conditions of radio attacks based on methods of increasing the stability of providing information about the route of the unmanned aerial vehicle in the use of REP and air defense systems. Results. The article reveals the mechanism of formation of safe movement of unmanned aerial vehicle in the conditions of radio attacks. Analysis of known solutions in the field of increasing the stability of the control path of unmanned aerial vehicles and electronic suppression demonstrated the relevance of the problem of forming flight routes of unmanned aerial vehicles bypassing opposing enemy areas, taking into account the use of air defense and electronic warfare. The authors emphasize that most drone control tasks are now automated due to their high complexity and versatility. An automated control system operating under the control of a human operator is used as a control factor on an unmanned aircraft. It is emphasized that the main threats to unmanned aerial vehicles in modern conditions are the possibility of their destruction by air defense systems, as well as disruption of the radio communication and control system between the control center and the UAV by electronic suppression. The need for constant tracking of UAV flight by transmitting commands from the launcher is revealed. It is also emphasized the low level of automation of the onboard control system of the unmanned aerial vehicle and the inability to make adequate decisions on information received from onboard sensors in complex situations that require constant monitoring of UAV flight by a human operator. Scientific novelty. For the first time the functional scheme of the UAV recognition mechanism in the conditions of radio attacks is developed and the mechanism of formation of safe movement of the UAV in the conditions of radio attacks which is based on three basic techniques is defined. The first method is the method of clustering the flight zones of an unmanned aerial vehicle according to the degree of control stability. Based on the second method, the authors propose a method of forming the routes of UAV flights, taking into account the location of air defense and electronic warfare. The last link is the method of assessing the stability of providing information about the route of the unmanned aerial vehicle in terms of the use of air defense and electronic warfare. Practical relevance. The results of the work can be implemented in the process of forming the safe movement of UAVs in the conditions of radio attacks. Keywords: unmanned aerial vehicle; air traffic control; space; security; flight.

scholarly journals Design of Standoff Cooperative Target-Tracking Guidance Laws for Autonomous Unmanned Aerial Vehicles

2021 ◽  
Vol 2021 ◽  
pp. 1-14
Author(s):  
Zhen Li ◽  
Xin Chen ◽  
Zhenhua Zhao
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Lyapunov Theory ◽  
Control System Design ◽  
Guidance Law ◽  
Aerial Vehicles ◽  
Communication Topology ◽  
The Stability ◽  
Cooperative Tracking ◽  
Guidance Laws ◽  
Lyapunov Vector

This paper investigates two guidance laws of standoff cooperative tracking static and moving of multiple autonomous unmanned aerial vehicles for targets from the perspective of the control system design. In the scheme of the proposed guidance laws, one vehicle is chosen as leader and others as followers. The leader only needs the measurement of the target, and the followers only measure the leader and its neighbors in the communication topology network. By using the proposed guidance laws, it is guaranteed that all vehicles can track a static or moving target with an evenly spaced formation of circle. Considering the coupling of tracking and cooperation, the stability analysis is performed by constructing two relatively independent subsystems based on Lyapunov theory, and the corresponding rigorous proofs of stability are given. By comparing with the Lyapunov vector field guidance law, the simulation results verify the effectiveness and superiority of the proposed guidance laws.

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