scholarly journals Energy Efficiency Enhanced Landing Strategy for Manned eVTOLs Using L1 Adaptive Control

Symmetry ◽  
2021 ◽  
Vol 13 (11) ◽  
pp. 2125
Author(s):  
Zian Wang ◽  
Shengchen Mao ◽  
Zheng Gong ◽  
Chi Zhang ◽  
Jun He
Keyword(s):  
Energy Efficiency ◽  
Adaptive Control ◽  
Control System ◽  
Horizontal Plane ◽  
Safety Performance ◽  
L1 Adaptive Control ◽  
Flight Experience ◽  
Vertical Takeoff And Landing ◽  
Stability Augmentation ◽  
Vertical Takeoff

A new landing strategy is presented for manned electric vertical takeoff and landing (eVTOL) vehicles, using a roll maneuver to obtain a trajectory in the horizontal plane. This strategy rejects the altitude surging in the landing process, which is the fatal drawback of the conventional jumping strategy. The strategy leads to a smoother transition from the wing-borne mode to the thrust-borne mode, and has a higher energy efficiency, meaning a better flight experience and higher economic performance. To employ the strategy, a five-stage maneuver is designed, using the lateral maneuver instead of longitudinal climbing. Additionally, a control system based on L1 adaptive control theory is designed to assist manned driving or execute flight missions independently, consisting of the guidance logic, stability augmentation system and flight management unit. The strategy is verified with the ET120 platform, by Monte Carlo simulation for robustness and safety performance, and an experiment was performed to compare the benefits with conventional landing strategies. The results show that the performance of the control system is robust enough to reduce perturbation by at least 20% in all modeling parameters, and ensures consistent dynamic characteristics between different flight modes. Additionally, the strategy successfully avoids climbing during the landing process with a smooth trajectory, and reduces the energy consumed for landing by 64%.

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.

Mobile Operations Performed by Mobile Manipulators on Irregular Terrain - Torque Compensation Using Neural Networks for Disturbance Torques Produced by Irregular Terrain -

1998 ◽  
Vol 10 (5) ◽  
pp. 377-386 ◽  
Author(s):  
Mamoru Minami ◽  
◽  
Masatoshi Hatano ◽  
Toshiyuki Asakura ◽  
Keyword(s):  
Neural Network ◽  
Neural Networks ◽  
Adaptive Control ◽  
Control System ◽  
Horizontal Plane ◽  
Mobile Manipulator ◽  
Mobile Manipulators ◽  
Adaptive Control System ◽  
Control Performance ◽  
Irregular Terrain

In the present study, we propose a control system for mobile operations of mobile manipulators traveling on irregular terrain. Irregularities exist even in structures such as man-made floors of factories and buildings. Since the hand of a mobile manipulator is often required to operate precisely while traveling on irregular terrain and it is subject to disturbance torques caused by traveling on terrain, a method for decreasing control errors caused by disturbances due to terrain must be considered. In the present paper, an adaptive control system including a compensator that uses a neural network, i.e., a neuro adaptive control system, is proposed. In addition, we discuss the control performance of the proposed control system, and show that the control system can decrease control errors occurring on irregular terrain to the levels of errors that occur while traveling on a horizontal plane.

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.

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 Adaptive Traction Drive Control Algorithm for Electrical Energy Consumption Minimisation of Autonomous Unmanned Aerial Vehicle

2019 ◽  
Vol 15 (2) ◽  
pp. 62-70
Author(s):  
Aleksandr Korneyev ◽  
Mikhail Gorobetz ◽  
Ivars Alps ◽  
Leonids Ribickis
Keyword(s):  
Optimal Control ◽  
Energy Efficiency ◽  
Adaptive Control ◽  
Control System ◽  
Energy Consumption ◽  
Unmanned Aerial Vehicle ◽  
Control Algorithm ◽  
Target Function ◽  
Traction Drive ◽  
Aerial Vehicle

AbstractThe paper aims at researching and developing an adaptive control system algorithm and its implementation and integration in the control system of the existing unmanned aerial vehicle (UAV). The authors describe the mathematical model of UAV and target function for energy consumption minimisation and possible searching algorithms for UAV optimal control from an energy efficiency perspective. There are two main goals: to minimise energy consumption and to develop and investigate an adaptive control algorithm for UAV traction drive in order to increase energy efficiency.The optimal control algorithm is based on two target function values, when comparing and generating corresponding control signals. The main advantage of the proposed algorithm is its unification and usability in any electrical UAV with a different number of traction drives, different or variable mass and other configuration differences without any initial manual setup. Any electric UAV is able to move with maximal energy efficiency using the proposed algorithm.

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