scholarly journals Distributed Control for Coordinated Tracking of Fixed-Wing Unmanned Aerial Vehicles under Model Uncertainty and Disturbances

2021 ◽  
Vol 11 (21) ◽  
pp. 9830
Author(s):  
Qipeng Wang ◽  
Shulong Zhao ◽  
Xiangke Wang
Keyword(s):  
Unmanned Aerial Vehicles ◽  
External Disturbance ◽  
Tracking Error ◽  
Gaussian Process Regression ◽  
Data Driven ◽  
Consensus Protocol ◽  
Uncertain Dynamics ◽  
Aerial Vehicles ◽  
The Stability ◽  
Coordinated Tracking

In this paper, we consider a control problem where a group of fixed-wing unmanned aerial vehicles (UAVs) with uncertain dynamics tracks the target vehicle cooperatively in the case of external disturbance. Based on the Gaussian process regression, a data-driven model is established, whose uniform error is bounded with probability. Then a learning-based consensus protocol for multi-UAVs is designed. The stability of the system is proven via Lyapunov function, and the tracking error is guaranteed to be bounded with a high probability. Finally, the effectiveness of the proposed method is shown in the numerical simulation.

scholarly journals Improved neural network-based adaptive tracking control for manipulators with uncertain dynamics

2020 ◽  
Vol 17 (4) ◽  
pp. 172988142094756
Author(s):  
Dong-hui Wang ◽  
Shi-jie Zhang
Keyword(s):  
Neural Network ◽  
Radial Basis Function ◽  
Basis Function ◽  
Tracking Control ◽  
Robot Manipulators ◽  
External Disturbance ◽  
Tracking Error ◽  
Adaptive Tracking ◽  
Uncertain Dynamics ◽  
Radial Basis

In this article, a robust adaptive tracking controller is developed for robot manipulators with uncertain dynamics using radial basis function neural network. The design of tracking control systems for robot manipulators is a highly challenging task due to external disturbance and the uncertainties in their dynamics. The improved radial basis function neural network is chosen to approximate the uncertain dynamics of robot manipulators and learn the upper bound of the uncertainty. The adaptive law based on the Lyapunov stability theory is used to solve the uniform final bounded problem of the radial basis function neural network weights, which guarantees the stability and the consistent bounded tracking error of the closed-loop system. Finally, the simulation results are provided to demonstrate the practicability and effectiveness of the proposed method.

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.

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