Design and Control of a Mini Quad-Rotor UAV Based on Embedded System

In this paper, one kind of quad-rotor UAV (unmanned aerial vehicle) controller is designed according to analyze its structure and function. The hardware platform is established based on DSP MC56F8037, inertial sensor unit, as well as facilities that make it suitable for the dynamic system. According to the analysis of the working principle of the quad-rotor, the nonlinear dynamic model is established. This is a hierarchical embedded model based control scheme that is built upon the concept of backstepping, the simulation result shows the controllers are valid. This realization makes a great progress in the development process of a more advanced realization of an UAV suitable for practical applications.

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Design and Implementation of a Hardware-in-the-Loop Simulation System for a Tilt Trirotor UAV

Journal of Advanced Transportation ◽

10.1155/2020/4305742 ◽

2020 ◽

Vol 2020 ◽

pp. 1-17

Author(s):

Li Yu ◽

Guang He ◽

Shulong Zhao ◽

Xiangke Wang ◽

Lincheng Shen

Keyword(s):

Simulation System ◽

Theory And Practice ◽

Hardware In The Loop ◽

Verification Method ◽

Transition Strategy ◽

Control Scheme ◽

Aerial Vehicle ◽

And Control ◽

Flight Model ◽

Hil Simulation

The tilt trirotor unmanned aerial vehicle (UAV) is a novel aircraft that has broad application prospects in transportation. However, the development progress of the aircraft is slow due to the complicated control system and the high cost of the flight experiment. This work attempts to overcome the problem by developing a hardware-in-the-loop (HIL) simulation system based on a heavily developed and commercially available flight simulator X-Plane. First, the tilt trirotor UAV configuration and dynamic model are presented, and the parameters are obtained by conducting identification experiments. Second, taking the configuration of the aircraft into account, a control scheme composed of the mode transition strategy, hierarchical controller, and control allocation is proposed. Third, a full-scale flight model of the prototype is designed in X-Plane, and an interface program is completed for connecting the autopilot and X-Plane. Then, the HIL simulation system that consists of the autopilot, ground control station, and X-Plane is developed. Finally, the results of the HIL simulation and flight experiments are presented and compared. The results show that the HIL simulation system can be an efficient tool for verifying the performance of the proposed control scheme for the tilt trirotor UAV. The work contributes to narrowing the gap between theory and practice and provides an alternative verification method for the tilt trirotor UAV.

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On Aero Control Law Joined Compensatory PID for Glide down to Fixed Low Altitude System and Simulation Researches

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.198-199.1021 ◽

2012 ◽

Vol 198-199 ◽

pp. 1021-1024

Author(s):

De Hai Yu ◽

Dong Cai Qu ◽

Jian Hua Lu ◽

Bin Wen Lu

Keyword(s):

Control Law ◽

Simple Analysis ◽

Control Laws ◽

Control Scheme ◽

Improve Accuracy ◽

Working Principle ◽

Simulation Results ◽

Low Altitude ◽

Constant Altitude ◽

And Control

In order to improve accuracy of constant altitude fly at low altitude and fly track of glide down to fixed altitude, aeroplane’s control scheme of glide down to fixed low altitude with PID compensatory link were designed. At the same time, the corresponding control laws had been designed. After simple analysis about working principle of the aeroplane’s control system, simulation researches were done to optimize designed control laws, so that achieving expectant requirement. Simulation results show that designed control scheme and control law were accurate and effective.

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Nonparametric Method for Predicting the Trajectory of an Actively Maneuvering Vessel for Unmanned Aerial Vehicle Landing

Mekhatronika Avtomatizatsiya Upravlenie ◽

10.17587/mau.22.660-670 ◽

2021 ◽

Vol 22 (12) ◽

pp. 660-670

Author(s):

V. V. Kosyanchuk ◽

E. Yu. Zybin ◽

V. V. Glasov ◽

L. Tan

Keyword(s):

Systems Theory ◽

Degrees Of Freedom ◽

Model Parameters ◽

Time Interval ◽

Nonlinear Dynamic Model ◽

Control Actions ◽

Input Control ◽

Aerial Vehicle ◽

Direct Problems ◽

And Control

The article is devoted to the development of algorithms for predicting the trajectory of maneuvering objects based on nonparametric systems theory. The analysis of uncertainties affecting the modeling of the movement maneuvering water objects is presented. An overview of parametric, nonparametric and combined methods for predicting maneuvering water objects trajectory is given. The problem of high-precision autonomous control of the landing unmanned aerial vehicles on the landing vessel in the conditions of its irregular movement caused by meteorological conditions and active maneuvering is being solved. The method for predicting the trajectory of a vessel’s movement based on solving direct problems of dynamics using nonparametric systems theory is proposed. The advantages of the proposed method are that it’s not affected by model errors, due to the fact that it is based only on a retrospective analysis of several consecutive values of the spatial vessel coordinates. The proposed method differs from similar nonparametric methods in that it does not require statistical calculations, own training, or time-consuming tuning. The method does not imply the solution of identification model parameters, state and control actions problems and can be applied with any unknown linearizable input control actions, including when the model of the vessel’s motion dynamics is not identifiable. The results of numerical modeling for solution the problem of predicting the trajectory of an actively maneuvering small-sized landing vessel using a full nonlinear dynamic model with six degrees of freedom are presented. The studies carried out confirm the efficiency, adequacy and very fast adjustment of the developed method under conditions of complete parametric and nonparametric uncertainty. The proposed method can be used to predict the trajectory of any vehicle under the condition of linearizability of its model and control signals over the observed time interval.

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Coupled Dynamic Modeling and Control of Aerial Continuum Manipulation Systems

Applied Sciences ◽

10.3390/app11199108 ◽

2021 ◽

Vol 11 (19) ◽

pp. 9108

Author(s):

Zahra Samadikhoshkho ◽

Shahab Ghorbani ◽

Farrokh Janabi-Sharifi

Keyword(s):

Dynamic Modeling ◽

Sliding Mode ◽

Control Technique ◽

Adaptive Sliding Mode Control ◽

Modeling And Control ◽

Practical Applications ◽

Lagrange Formulation ◽

Continuum Robot ◽

Aerial Vehicle ◽

And Control

Aerial continuum manipulation systems (ACMSs) were newly introduced by integrating a continuum robot (CR) into an aerial vehicle to address a few issues of conventional aerial manipulation systems such as safety, dexterity, flexibility and compatibility with objects. Despite the earlier work on decoupled dynamic modeling of ACMSs, their coupled dynamic modeling still remains intact. Nonlinearity and complexity of CR modeling make it difficult to design a coupled ACMS model suitable for practical applications. This paper presents a coupled dynamic modeling for ACMSs based on the Euler–Lagrange formulation to deal with CR and the aerial vehicle as a unified system. For this purpose, a general vertical take-off and landing vehicle equipped with a tendon-driven continuum arm is considered to increase the dexterity and compliance of interactions with the environment. The presented model is independent of the motor’s configuration and tilt angles and can be applied to model any under/fully actuated ACMS. The modeling approach is complemented with a Lyapunov-wise stable adaptive sliding mode control technique to demonstrate the validity of the proposed method for such a complex system. Simulation results in free flight motion scenarios are reported to verify the effectiveness of the proposed modeling and control techniques.

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Intelligent greenhouse monitoring and control scheme: An arrangement of Sensors, Raspberry Pi based Embedded System and IoT platform

Indian Journal of Science and Technology ◽

10.17485/ijst/v13i27.311 ◽

2020 ◽

Vol 13 (27) ◽

pp. 2811-2822

Author(s):

Jehangir Arshad ◽

Keyword(s):

Embedded System ◽

Raspberry Pi ◽

Monitoring And Control ◽

Iot Platform ◽

Control Scheme ◽

And Control

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

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.383-390.1524 ◽

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.

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