Active Modeling Based Yaw Control of Unmanned Rotorcraft

This paper describes recent research on the design, implement, and testing of a new small-scaled rotorcraft Unmanned Aerial Vehicle (RUAV) system—ServoHeli-40. A turbine-powered UAV weighted less than 15 kg was designed, and its major components were tested at the Shenyang Institute of Automation, Chinese Academy of Sciences in Shenyang, China. The aircraft was designed to reach a top speed of more than 20 mps, flying a distance of more than 10 kilometers, and it is going to be used as a test-bed for experimentally evaluating advanced control methodologies dedicated on improving the maneuverability, reliability, as well as autonomy of RUAV. Sensors and controller are all onboard. The full system has been tested successfully in the autonomous mode using the multichannel active modeling controller. The results show that in a real windy environment the rotorcraft UAV can follow the trajectory which was assigned by the ground control station exactly, and the new control method is obviously more effective than the one in the past year's research.

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Robust global observer position-yaw control based on ellipsoid method for quadrotors

Mechanical Systems and Signal Processing ◽

10.1016/j.ymssp.2021.107721 ◽

2021 ◽

Vol 158 ◽

pp. 107721

Author(s):

Fátima Oliva-Palomo ◽

Anand Sanchez-Orta ◽

Hussain Alazki ◽

Pedro Castillo ◽

Aldo-Jonathan Muñoz-Vázquez

Keyword(s):

Ellipsoid Method ◽

Yaw Control

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Active Modeling and Control for Manipulators

10.1109/m2vip49856.2021.9665004 ◽

2021 ◽

Author(s):

Qingyi Zeng ◽

Xiangyu Wang ◽

Dongyang Bie ◽

Jianda Han

Keyword(s):

Modeling And Control ◽

Active Modeling ◽

And Control

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A Comparative Study of the Influence of Different Wake Models on Wind Farm Layout Optimization

ASME 2021 15th International Conference on Energy Sustainability ◽

10.1115/es2021-63911 ◽

2021 ◽

Author(s):

Puyi Yang ◽

Hamidreza Najafi

Keyword(s):

Wind Farm ◽

Wind Farms ◽

Vital Role ◽

Layout Optimization ◽

Zone Model ◽

Wind Farm Layout ◽

Yaw Control ◽

Wind Farm Layout Optimization ◽

Wake Model ◽

Large Wind

Abstract The accuracy of analytical wake models applied in wind farm layout optimization (WFLO) problems plays a vital role in the present era that the high-fidelity methods such as LES and RANS are still not able to handle an optimization problem for large wind farms. Based on a verity of analytical wake models developed in the past decades, FLOw Redirection and Induction in Steady State (FLORIS) has been published as a tool integrated several widely used wake models and the expansions for them. This paper compares four wake models selected from FLORIS by applying three classical WFLO scenarios. The results illustrate that the Jensen wake model is the fastest one but the defect of underestimation of velocity deficit is obvious. The Multi Zone model needs to be applied additional tunning on the parameters inside the model to fit specific wind turbines. The Gaussian-Curl wake model as an advanced expansion of the Gaussian wake model does not perform an observable improvement in the current study that the yaw control is not included. The default Gaussian wake model is recommended to be used in the WFLO projects which implemented under the FLROIS framework and has similar wind conditions with the present work.

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