Model and Auto Take-Off Control Law Design of Unmanned Aerial Vehicle

2011 ◽  
Vol 383-390 ◽  
pp. 1524-1530
Author(s):  
Hui Song ◽  
Xin Chen
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Rotation Speed ◽  
Aerodynamic Characteristics ◽  
Control Law ◽  
Engineering Project ◽  
Dynamical Characteristics ◽  
Control Scheme ◽  
Aerial Vehicle ◽  
Lift Off ◽  
And Control

The Unmanned Aerial Vehicle (UAV) has special dynamical characteristics in ground motion different from that of flight in the airborne. The forces and moments on the ground to the UAV differ during taxiing, according to the different mechanical and aerodynamic characteristics. An all-states nonlinear model is established by studying on a sample UAV. Rotation speed and lift off speed is determined, finally a control law including longitudinal and lateral control for automatic take-off is designed. Results of simulation show that the model and control scheme can not only join the ground taxiing and flight in the airborne smoothly, but also has a high value in realizing engineering project.

scholarly journals A Novel Adaptive Super-Twisting Sliding Mode Control Scheme with Time-Delay Estimation for a Single Ducted-Fan Unmanned Aerial Vehicle

Actuators ◽  
2021 ◽  
Vol 10 (3) ◽  
pp. 54
Author(s):  
Minh-Thien Tran ◽  
Dong-Hun Lee ◽  
Soumayya Chakir ◽  
Young-Bok Kim
Keyword(s):  
Time Delay ◽  
Sliding Mode Control ◽  
Unmanned Aerial Vehicle ◽  
Sliding Mode ◽  
Time Delay Estimation ◽  
Delay Estimation ◽  
Mode Control ◽  
Ducted Fan ◽  
Control Scheme ◽  
Aerial Vehicle

This article proposes a novel adaptive super-twisting sliding mode control scheme with a time-delay estimation technique (ASTSMC-TDE) to control the yaw angle of a single ducted-fan unmanned aerial vehicle system. Such systems are highly nonlinear; hence, the proposed control scheme is a combination of several control schemes; super-twisting sliding mode, TDE technique to estimate the nonlinear factors of the system, and an adaptive sliding mode. The tracking error of the ASTSMC-TDE is guaranteed to be uniformly ultimately bounded using Lyapunov stability theory. Moreover, to enhance the versatility and the practical feasibility of the proposed control scheme, a comparison study between the proposed controller and a proportional-integral-derivative controller (PID) is conducted. The comparison is achieved through two different scenarios: a normal mode and an abnormal mode. Simulation and experimental tests are carried out to provide an in-depth investigation of the performance of the proposed ASTSMC-TDE control system.

Modeling and control of a quadrotor tail-sitter unmanned aerial vehicles

2021 ◽  
pp. 095965182110504
Author(s):  
Hongbo Xin ◽  
Yujie Wang ◽  
Xianzhong Gao ◽  
Qingyang Chen ◽  
Bingjie Zhu ◽  
...  
Keyword(s):  
Control System ◽  
Unmanned Aerial Vehicles ◽  
Unmanned Aerial Vehicle ◽  
Euler Angle ◽  
Level Flight ◽  
Aerial Vehicles ◽  
Flight Mode ◽  
Aerial Vehicle ◽  
Hover Flight ◽  
And Control

The tail-sitter unmanned aerial vehicles have the advantages of multi-rotors and fixed-wing aircrafts, such as vertical takeoff and landing, long endurance and high-speed cruise. These make the tail-sitter unmanned aerial vehicle capable for special tasks in complex environments. In this article, we present the modeling and the control system design for a quadrotor tail-sitter unmanned aerial vehicle whose main structure consists of a traditional quadrotor with four wings fixed on the four rotor arms. The key point of the control system is the transition process between hover flight mode and level flight mode. However, the normal Euler angle representation cannot tackle both of the hover and level flight modes because of the singularity when pitch angle tends to [Formula: see text]. The dual-Euler method using two Euler-angle representations in two body-fixed coordinate frames is presented to couple with this problem, which gives continuous attitude representation throughout the whole flight envelope. The control system is divided into hover and level controllers to adapt to the two different flight modes. The nonlinear dynamic inverse method is employed to realize fuselage rotation and attitude stabilization. In guidance control, the vector field method is used in level flight guidance logic, and the quadrotor guidance method is used in hover flight mode. The framework of the whole system is established by MATLAB and Simulink, and the effectiveness of the guidance and control algorithms are verified by simulation. Finally, the flight test of the prototype shows the feasibility of the whole system.

scholarly journals Aerodynamic Characteristics of Tube-Launched Tandem Wing Unmanned Aerial Vehicle

2018 ◽  
Vol 1005 ◽  
pp. 012015
Author(s):  
Nurhayyan H. Rosid ◽  
E. Irsyad Lukman ◽  
M. Ahmad Fadlillah ◽  
M. Agoes Moelyadi
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Aerodynamic Characteristics ◽  
Aerial Vehicle

scholarly journals Design of a Hand-Launched Solar-Powered Unmanned Aerial Vehicle (UAV) System for Plateau

2020 ◽  
Vol 10 (4) ◽  
pp. 1300 ◽  
Author(s):  
Xin Zhao ◽  
Zhou Zhou ◽  
Xiaoping Zhu ◽  
An Guo
Keyword(s):  
Low Temperature ◽  
Conceptual Design ◽  
Unmanned Aerial Vehicle ◽  
Design Method ◽  
Structure Design ◽  
Control Law ◽  
Trajectory Tracking Control ◽  
Plateau Area ◽  
Aerial Vehicle ◽  
Solar Powered

This paper describes our work on a small, hand-launched, solar-powered unmanned aerial vehicle (UAV) suitable for low temperatures and high altitudes, which has the perpetual flight potential for conservation missions for rare animals in the plateau area in winter. Firstly, the conceptual design method of a small, solar-powered UAV based on energy balance is proposed, which is suitable for flight in high-altitude and low-temperature area. The solar irradiance model, which can reflect the geographical location and time, was used. Based on the low-temperature discharge test of the battery, a battery weight model considering the influence of low temperature on the battery performance was proposed. Secondly, this paper introduces the detailed design of solar UAV for plateau area, including layout design, structure design, load, and avionics. To increase the proportion of solar cells covered, the ailerons were removed and a rudder was used to control both roll and yaw. Then, the dynamics model of an aileron-free layout UAV was developed, and the differences in maneuverability and stability of aileron-free UAV in plateau and plain areas were analyzed. The control law and trajectory tracking control law were designed for the aileron-free UAV. Finally, the flight test was conducted in Qiangtang, Tibet, at an altitude of 4500 m, China’s first solar-powered UAV to take off and land above 4500 m on the plateau in winter (−30 °C). The test data showed the success of the scheme, validated the conceptual design method and the success of the control system for aileron-free UAV, and analyzed the feasibility of perpetual flight carrying different loads according to the flight energy consumption data.

scholarly journals Dynamic Stability and Control of a Manipulating Unmanned Aerial Vehicle

2018 ◽  
Vol 2018 ◽  
pp. 1-13 ◽  
Author(s):  
Yunping Liu ◽  
Xijie Huang ◽  
Yonghong Zhang ◽  
Yukang Zhou
Keyword(s):  
Stability Analysis ◽  
Lyapunov Exponent ◽  
Dynamic Stability ◽  
Unmanned Aerial Vehicle ◽  
Impedance Control ◽  
System Stability ◽  
Constructive Method ◽  
Aerial Vehicle ◽  
And Control ◽  
The Impact

This paper focuses on the dynamic stability analysis of a manipulator mounted on a quadrotor unmanned aerial vehicle, namely, a manipulating unmanned aerial vehicle (MUAV). Manipulator movements and environments interaction will extremely affect the dynamic stability of the MUAV system. So the dynamic stability analysis of the MUAV system is of paramount importance for safety and satisfactory performance. However, the applications of Lyapunov’s stability theory to the MUAV system have been extremely limited, due to the lack of a constructive method available for deriving a Lyapunov function. Thus, Lyapunov exponent method and impedance control are introduced, and the Lyapunov exponent method can establish the quantitative relationships between the manipulator movements and the dynamics stability, while impedance control can reduce the impact of environmental interaction on system stability. Numerical simulation results have demonstrated the effectiveness of the proposed method.

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