scholarly journals Using Fuzzy Logic to Stabilize the Position of a Multi Rotor

2019 ◽  
Vol 49 (4) ◽  
pp. 441-461
Author(s):  
Karol Bęben ◽  
Norbert Grzesik ◽  
Konrad Kuźma
Keyword(s):  
Fuzzy Logic ◽  
Control System ◽  
Unmanned Aerial Vehicle ◽  
Stabilization System ◽  
Hardware In The Loop ◽  
Vertical Takeoff And Landing ◽  
Aerial Vehicle ◽  
Arduino Microcontroller ◽  
Rotor Model ◽  
Vertical Takeoff

Abstract The article is a continuation of research into a stabilization system for the Unmanned Aerial Vehicle of vertical takeoff and landing. The stabilization system was designed on the basis of a fuzzy logic Mamdani type controller. In the framework of the research, the authors built a test stand with a Multi Rotor model, which allows “Hardware In The Loop” testing in real time. The control system was written in the Matlab/Simulink software and implemented to the Arduino microcontroller.

scholarly journals Studies of 4-rotor unmanned aerial vehicle UAV in the field of control system

2018 ◽  
Vol 210 ◽  
pp. 05009 ◽  
Author(s):  
Lucjan Setlak ◽  
Rafał Kowalik
Keyword(s):  
Control System ◽  
Unmanned Aerial Vehicle ◽  
Traffic Control ◽  
Structural Instability ◽  
Unmanned Aircraft ◽  
Vertical Takeoff And Landing ◽  
Aerial Vehicle ◽  
Vertical Takeoff ◽  
Linear Nature

The key goal of this work was to develop a functional mathematical model of a 4-rotor UAV, including regulatory apparatus and identification of its parameters. The functionality of a quadrocopter traffic control has been reduced to solving differential equations that define the motion and dynamics of an unmanned aerial vehicle. It should be noted that the synthesis of the quadrocopter control system is not an easy task, due to the non-linear nature of the dynamics of this object and its structural instability. Therefore, in this article the tested object UAV was accepted as a physical model, which may cause potential material damage resulting from damage to the device as well as other elements that are located in its immediate surroundings. In addition, the article discusses the problem of improving the quality of the estimation rate of climb of unmanned aircraft of vertical takeoff and landing UAV, this problem was considered for the object in the low-ceiling range, i.e. in the range of 0-6 m, so the issue concerns autonomous take-off and landing. For the presentation of the results, the 4-rotor UAV was used, with the use of a proportional-integral-derivative PID controller in the context of the control system. The obtained results were supported by research and analysis of real results - the discussed algorithm was implemented in the 4-rotor UAV driver.

Dynamic Analysis of a Ducted Fan UAV in Forward Flight

2012 ◽  
Vol 224 ◽  
pp. 510-513
Author(s):  
Wei Zhang ◽  
Ning Jun Fan
Keyword(s):  
Control System ◽  
System Design ◽  
Nonlinear Model ◽  
Control System Design ◽  
Forward Flight ◽  
Ducted Fan ◽  
Vertical Takeoff And Landing ◽  
Aerial Vehicle ◽  
And Control ◽  
Vertical Takeoff

This paper deals with the dynamic modeling of a ducted fan vertical takeoff and landing (VTOL) unmanned aerial vehicle (UAV) and focuses on the dynamic characteristics analyzing in forward flight. A 6-DOF nonlinear model has been established in terms of the forces and moments and the model can be used in the structure and control system design.

Lightweight unmanned aerial vehicle for emergency medical service – Synthesis of the layout

2020 ◽  
pp. 095441002091058 ◽  
Author(s):  
Tomasz Goetzendorf-Grabowski ◽  
Andrzej Tarnowski ◽  
Marcin Figat ◽  
Jacek Mieloszyk ◽  
Bogdan Hernik
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Forward Flight ◽  
Medical Mission ◽  
Emergency Medical ◽  
Vertical Takeoff And Landing ◽  
Aerial Vehicle ◽  
The Cost ◽  
Vertical Takeoff ◽  
Motor Failure ◽  
Selection Of

The article presents the innovative unmanned aerial vehicle project for emergency medical services. Designed unmanned aerial vehicle combines vertical takeoff and landing characteristics with fast forward flight capability that are vital to perform such an emergency medical mission. The main purpose of the designed unmanned aerial vehicle is to deliver the necessary medical package to the place where access is difficult, and estimated arrival time of conventional ambulance is too long. The cost of the support of such unmanned aerial vehicle could be significantly lower than in case of medical helicopter, which is not necessary in some cases. Designed unmanned aerial vehicle can also be used for fast delivery of essential medical substances (e.g. blood). The selection of configuration was the first and crucial step of the design. After analysis of many different copter configurations, together with selected crash reports analysis, the coaxial quadcopter configuration crossed with conventional airplane was selected. All power units for VTOL capability are electric, and they are doubled for redundancy purposes, with maximum T/W ratio about 2.0. Such configuration allows to sustain a stable flight (vertical phases) in case of one motor failure. Two versions of the vehicle are designed: fully electric (power units for the forward flight and vertical takeoff and landing are electric) and mixed where forward flight unit is a small piston engine. The final layout was the result of conceptual investigation and preliminary research, MDO and trade-off analysis, where as many aspects as possible were considered. The main problem was to meet the vertical takeoff and landing capabilities, relatively long range and endurance, expected payload (3 kg) and the requirement not to exceed 25 kg of maximum take-off weight. Paper presents the design process from initial requirement to the final configuration accepted to be manufactured.

Design and Attitude Control of a Quad-Rotor Tail-Sitter Vertical Takeoff and Landing Unmanned Aerial Vehicle

2012 ◽  
Vol 26 (3-4) ◽  
pp. 307-326 ◽  
Author(s):  
Atsushi Oosedo ◽  
Atsushi Konno ◽  
Takaaki Matsumoto ◽  
Kenta Go ◽  
Koji Masuko ◽  
...  
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Attitude Control ◽  
Vertical Takeoff And Landing ◽  
Aerial Vehicle ◽  
Vertical Takeoff

scholarly journals Development of Mobile Ground Control System and GPS Base Auto Tracking Antenna

2018 ◽  
Vol 16 (1) ◽  
pp. 83 ◽  
Author(s):  
Herma Yudhi Irwanto
Keyword(s):  
Control System ◽  
Monitoring System ◽  
Unmanned Aerial Vehicle ◽  
High Speed ◽  
Flight Test ◽  
Simulation System ◽  
Ground Control ◽  
Hardware In The Loop ◽  
Automatic Tracking ◽  
Aerial Vehicle

Flight test of both rocket and high speed Unmanned Aerial Vehicle (UAV), which is currently developed by LAPAN, can not be separated from the need for a monitoring system of all the attitude of the vehicles. Utilizing and combining some of the available equipment components into a ground control system (GCS) equipped with GPS based auto tracking antenna, makes it easy in previous flight test activities that only do tracking antenna manually. This ground control system is equipped with automatic tracking antenna that always leads to the vehicle, so that the data attitude of flying the vehicle will be maximally monitored and analyzed directly with ease. This system has been tested on a laboratory scale related to testing using hardware in the loop simulation system

scholarly journals INTELLECTUALIZED CONTROL SYSTEM FOR UNMANNED AERIAL VEHICLE

2020 ◽  
Vol 1 (1) ◽  
pp. 22-27
Author(s):  
S. LYSENKO ◽  
Keyword(s):  
Fuzzy Logic ◽  
Control System ◽  
Unmanned Aerial Vehicles ◽  
Unmanned Aerial Vehicle ◽  
Degrees Of Freedom ◽  
Large Set ◽  
Motion Models ◽  
External Influences ◽  
Aerial Vehicles ◽  
Aerial Vehicle

The paper presents an intellectualized control system for unmanned aerial vehicles. It is based on the use of the fuzzy logic, implementation of which in the Controller of the unmanned aerial device allowed to track and control the trajectory of its movement. The experimental researches prove the efficiency of the device application of fuzzy logic for control of the drone in conditions of external influences implementation. To construct an intellectualized control system of unmanned aerial vehicles, their structure was considered. The base of the system is used for quadunmanned aerial vehicle, which includes four screws, located symmetrically around the central building. The peculiarity of the drone is that its adjacent screws must spin the opposite one from each other. This requirement is explained by the need to prevent system rotation around its own central axis. Depending on the required trajectory, an important aspect was the ability to set different values of the power of the drone engines. Despite the fact that the simplicity of its structure are characterized, they are able to implement a large set of motion models together with a demonstration of high maneuverability. It is reached the presence of six degrees of freedom, which consist of three progressive and three rotating components to set the trajectory of a movement. In order to solve this problem, it was possible to solve the apparatus of fuzzy logic as the basis of the mathematical model of the system. This allowed to ensure a vague logical control of the fog, and, in turn, intellectualize the behavior of drone in the air in the conditions of external influences on the change of a predetermined trajectory of its movement. At the heart of the Intellectualized unmanned Aerial vehicle control system, two fuzzy controllers were involved in the production of control signals for the command of a UAV flight height and an angle of inclination.

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