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Author : Daniele Sartori
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (955 download)
Download or read book Design Implementation and Testing of Advanced Control Laws for Fixed-wing UAVs written by Daniele Sartori and published by . This book was released on 2014 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Arturo Tadeo Espinoza-Fraire
Publisher : Elsevier
ISBN 13 : 0323954049
Total Pages : 292 pages
Book Rating : 4.3/5 (239 download)
Download or read book Design of Control Laws and State Observers for Fixed-Wing UAVs written by Arturo Tadeo Espinoza-Fraire and published by Elsevier. This book was released on 2022-09-29 with total page 292 pages. Available in PDF, EPUB and Kindle. Book excerpt: Design of Control Laws and State Observers for Fixed-Wing UAVs: Simulation and Experimental Approaches provides readers with modeling techniques, simulations, and results from real-time experiments using linear and nonlinear controllers and state observers. The book starts with an overview of the history of UAVs and the equations of motion applied to them. Following chapters analyze linear and nonlinear controllers, state observers, and the book concludes with a chapter discussing testbed development and experimental results, equipping readers with the knowledge they need to conduct their own stable UAV flights whether in simulation or real-time. Presents aerodynamic models for fixed-wing UAVs that can be used to design control laws and state observers Applies linear and nonlinear control theories and state observers to fixed-wing UAVs Provides real-time flight and simulation test results of fixed-wing UAVs with linear and nonlinear controllers
Author : Sumit Sharma
Publisher : Packt Publishing Ltd
ISBN 13 : 183763727X
Total Pages : 316 pages
Book Rating : 4.8/5 (376 download)
Download or read book Drone Development from Concept to Flight written by Sumit Sharma and published by Packt Publishing Ltd. This book was released on 2024-04-30 with total page 316 pages. Available in PDF, EPUB and Kindle. Book excerpt: Learn the principles behind building and flying drones, using components like BLDC motors and speed controllers, AeroGCS ground software, Ardupilot and PX4 open-source flight stacks, along with examples and best practices Key Features Explore multicopter physics (roll, pitch, and yaw) and 3D dynamics for defining a drone’s flight Optimize drone performance with powerful propulsion systems such as BLDS motors, lipo batteries, and ESCs Build a custom survey drone to learn vital aspects of drone assembly, configuration, testing, and maiden flight Purchase of the print or Kindle book includes a free PDF eBook Book DescriptionUnlock opportunities in the growing UAV market where drones are revolutionizing diverse sectors like agriculture, surveying, and the military. This book walks you through the complete drone development life cycle, from concept to pilot stage, prototyping, and ultimately, a market-ready product, with domain-specific applications. Starting with an introduction to unmanned systems, principles of drone flight, and it's motion in 3D space, this book shows you how to design a propulsion system tailored to your drone’s needs. You’ll then get hands on with the entire drone assembly process, covering airframe, components, and wiring. Next, you’ll enhance drone connectivity and navigation with communication devices, such as RFD900, Herelink, and H-16 Pro GCS and hardware protocols like I2C, and UART. The book also guides you in using the open-source flight software Ardupilot and PX4, along with firmware architecture and PID tuning for advanced control. Additionally, you’ll go learn about AeroGCS, Mission Planner, and UGCS ground control stations, tips for maiden flight and log analysis for optimizing performance while building a custom survey drone with a 60-min endurance, 10km range, live video feed, and photography options. By the end of this book, you’ll be equipped with all you need to build and fly your own drones and UAVs.What you will learn Explore the design principles for multicopter flight and its physics of motion Grasp terminologies associated with UAV flight systems Gain an in-depth understanding of power trail, communication, and propulsion of a drone Study IMUs and sensors in flight controllers, and protocols like I2C, SPI, and MAvlink Familiarize yourself with open-source drone flight stacks and ground control station software Understand the control law used in multicopter and the basics of PIDs Delve into modes of flying with remote controllers and analysis of flight logs Who this book is for This book is for beginner-level drone engineers, robotics engineers, hardware and design engineers, and hobbyists who want to enter the drone industry and enhance their knowledge of the physics, mechanics, avionics, and programming of drones, multicopters, and UAVs. A basic understanding of circuits, assembly, microcontrollers, and electronic instruments like multimeter and batteries, along with fundamental concepts in physics and mathematics, will be helpful for reading this book.
Author : Michail G. Michailidis
Publisher : Springer Nature
ISBN 13 : 3030407160
Total Pages : 119 pages
Book Rating : 4.0/5 (34 download)
Download or read book Nonlinear Control of Fixed-Wing UAVs with Time-Varying and Unstructured Uncertainties written by Michail G. Michailidis and published by Springer Nature. This book was released on 2020-02-21 with total page 119 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces a comprehensive and mathematically rigorous controller design for families of nonlinear systems with time-varying parameters and unstructured uncertainties. Although the presented methodology is general, the specific family of systems considered is the latest, NextGen, unconventional fixed-wing unmanned aircraft with circulation control or morphing wings, or a combination of both. The approach considers various sources of model and parameter uncertainty, while the controller design depends not on a nominal plant model, but instead on a family of admissible plants. In contrast to existing controller designs that consider multiple models and multiple controllers, the proposed approach is based on the ‘one controller fits all models’ within the unstructured uncertainty interval. The book presents a modeling-based analysis and synthesis approach with additive uncertainty weighting functions for accurate realization of the candidate systems. This differs significantly from existing designs in that it is capable of handling time-varying characteristics. This research monograph is suitable for scientists, engineers, researchers and graduate students with a background in control system theory who are interested in complex engineering nonlinear systems.
Author : Pascual Marqués
Publisher : John Wiley & Sons
ISBN 13 : 1118928717
Total Pages : 788 pages
Book Rating : 4.1/5 (189 download)
Download or read book Advanced UAV Aerodynamics, Flight Stability and Control written by Pascual Marqués and published by John Wiley & Sons. This book was released on 2017-04-19 with total page 788 pages. Available in PDF, EPUB and Kindle. Book excerpt: Comprehensively covers emerging aerospace technologies Advanced UAV aerodynamics, flight stability and control: Novel concepts, theory and applications presents emerging aerospace technologies in the rapidly growing field of unmanned aircraft engineering. Leading scientists, researchers and inventors describe the findings and innovations accomplished in current research programs and industry applications throughout the world. Topics included cover a wide range of new aerodynamics concepts and their applications for real world fixed-wing (airplanes), rotary wing (helicopter) and quad-rotor aircraft. The book begins with two introductory chapters that address fundamental principles of aerodynamics and flight stability and form a knowledge base for the student of Aerospace Engineering. The book then covers aerodynamics of fixed wing, rotary wing and hybrid unmanned aircraft, before introducing aspects of aircraft flight stability and control. Key features: Sound technical level and inclusion of high-quality experimental and numerical data. Direct application of the aerodynamic technologies and flight stability and control principles described in the book in the development of real-world novel unmanned aircraft concepts. Written by world-class academics, engineers, researchers and inventors from prestigious institutions and industry. The book provides up-to-date information in the field of Aerospace Engineering for university students and lecturers, aerodynamics researchers, aerospace engineers, aircraft designers and manufacturers.
Author : Julian L. Casey
Publisher :
ISBN 13 :
Total Pages : 80 pages
Book Rating : 4.:/5 (129 download)
Download or read book Analytical Approach to Multi-objective Joint Inference Control for Fixed Wing Unmanned Aerial Vehicles written by Julian L. Casey and published by . This book was released on 2020 with total page 80 pages. Available in PDF, EPUB and Kindle. Book excerpt: Fixed-wing Unmanned Aerial Vehicles (UAVs) have been found highly useful in various environments, including military and law enforcement. With the increased use of fixed-wing UAVs, there becomes an increased need to optimize the resources available. One approach to resource management is to create multi-objective flights. This thesis presents the design, analysis, and experimental implementation of multi-objective resource management for the resource of Range, distance available to the UAV, from the viewpoint of Intelligence Surveillance and Reconnaissance (ISR). First, a Simulation Environment is created capable of tracking multiple fixed-wing UAVs and to allow for the UAVs' being controlled by an externally driven algorithm. Second, an Inference algorithm is developed with the objective of information seeking. Several algorithms are developed and used in conjunction with a Sequential Analysis test to allow for calculating Target Value, calculating Target Confidence, and validating the calculated Target Value. Third, a Control algorithm is developed with the objective of Target seeking. The Control algorithm uses several approaches to path generation, including Dubins path, Optimized Order path, and Closest Target path. Finally, a supervisor algorithm termed Joint Inference and Control (JIC) joins Inference and Control together. Monte Carlo simulated test flight results are shown to illustrate the effectiveness of the developed algorithms.
Author : Randal W. Beard
Publisher : Princeton University Press
ISBN 13 : 1400840600
Total Pages : 317 pages
Book Rating : 4.4/5 (8 download)
Download or read book Small Unmanned Aircraft written by Randal W. Beard and published by Princeton University Press. This book was released on 2012-02-26 with total page 317 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous unmanned air vehicles (UAVs) are critical to current and future military, civil, and commercial operations. Despite their importance, no previous textbook has accessibly introduced UAVs to students in the engineering, computer, and science disciplines--until now. Small Unmanned Aircraft provides a concise but comprehensive description of the key concepts and technologies underlying the dynamics, control, and guidance of fixed-wing unmanned aircraft, and enables all students with an introductory-level background in controls or robotics to enter this exciting and important area. The authors explore the essential underlying physics and sensors of UAV problems, including low-level autopilot for stability and higher-level autopilot functions of path planning. The textbook leads the student from rigid-body dynamics through aerodynamics, stability augmentation, and state estimation using onboard sensors, to maneuvering through obstacles. To facilitate understanding, the authors have replaced traditional homework assignments with a simulation project using the MATLAB/Simulink environment. Students begin by modeling rigid-body dynamics, then add aerodynamics and sensor models. They develop low-level autopilot code, extended Kalman filters for state estimation, path-following routines, and high-level path-planning algorithms. The final chapter of the book focuses on UAV guidance using machine vision. Designed for advanced undergraduate or graduate students in engineering or the sciences, this book offers a bridge to the aerodynamics and control of UAV flight.
Author : Jean Smith
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (16 download)
Download or read book Design and Application of Advanced Disturbance Rejection Control for Small Fixed-wing UAVs written by Jean Smith and published by . This book was released on 2018 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Joshua Levin
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (111 download)
Download or read book Maneuver Design and Motion Planning for Agile Fixed-wing UAVs written by Joshua Levin and published by . This book was released on 2019 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: "In recognition of their broad scope of utility, recent years have seen a surge of interest in unmanned aerial vehicles (UAVs). As a result of technological advancements, UAVs have been rapidly expanding into the civilian marketplace. Many of the jobs UAVs have the potential to fill demand high levels of autonomy, and thus the state-of-the-art is constantly being pushed forward. Many such jobs require near-ground autonomous flight through obstacle-dense environments. Achieving proficiency in this regard requires agile motion, precise tracking performance, and efficient real-time planning.Many non-traditional UAV platforms have been designed to suit various applications. Agile fixed-wing UAVs represent one such class of vehicles. They are characterized by their high thrust-to-weight ratio, large control surfaces, low aspect ratios, and a powerful propeller slipstream (also known as propwash). While they were originally marketed towards remote control pilots, their design makes them inherently valuable for autonomous flight. The primary appeal of the design is that it allows for both efficient fixed-wing forward flying and agile maneuvering, e.g. stopping mid-flight. In this way, these UAVs begin to bridge the gap in utility between efficient fixed-wing vehicles, and agile rotorcraft. The broad objective of this thesis is to exploit the full maneuvering capabilities of agile fixed-wing UAVs for autonomous flight. The main topics covered are maneuver design, control, and motion planning. The thesis begins with a discussion of preliminary topics: an aircraft dynamics model, a feedback controller, and an optimization framework, all of which are utilized throughout the following sections of the thesis. Next, an investigation is performed to evaluate the significance of sideslip and propeller slipstream in extreme maneuvering with fixed-wing UAVs. We identify the cost, in terms of performance loss, if either of these two phenomena are not accounted for in maneuver design.In the following chapter, we propose a strategy for designing and controlling agile maneuvers that takes advantage of the aircraft's full flight envelope. Optimal and dynamically feasible trajectories are generated, along with their associated feedforward control laws. Combining the transient agile maneuvers with steady-state trim conditions, we formulate a maneuver space, i.e. a library of trajectories. The maneuver space acts as a hybrid representation of the vehicle's dynamics, and as such is useful for efficient real-time motion planning. This chapter also includes a description of a heuristic for transitioning between maneuvers, and a methodology for continuously parametrizing agile maneuvers.As a natural progression towards the ultimate goal of the thesis, the maneuver space is integrated into a real-time motion planner based on the Rapidly-Exploring Random Trees (RRT) algorithm. The planner is used to address the problem of generating a dynamically feasible motion plan to guide the aircraft to a desired goal through a highly-constrained, three-dimensional environment. For the purposes of this thesis, the environment is assumed to be known, and to only contain static obstacles. The planning framework is able to exploit the aircraft's full maneuvering capabilities, and couples well with a control system for effective trajectory tracking.To conclude the main body of the thesis, simulation and flight test results are presented and discussed. The flight tests are performed in two sets. First, to perform a number of agile maneuvers, in isolation and in series. The experiments validate the feasibility of the maneuvers, and test the efficacy of the proposed control system. The second set of tests validate the real-time motion planner. All experiments, including the real-time motion planning, are implemented using only the sensors and computers mounted on-board the UAV." --
Author : Andrew J. Keane
Publisher : John Wiley & Sons
ISBN 13 : 1119406293
Total Pages : 501 pages
Book Rating : 4.1/5 (194 download)
Download or read book Small Unmanned Fixed-wing Aircraft Design written by Andrew J. Keane and published by John Wiley & Sons. This book was released on 2017-12-04 with total page 501 pages. Available in PDF, EPUB and Kindle. Book excerpt: Small Unmanned Fixed-wing Aircraft Design is the essential guide to designing, building and testing fixed wing UAVs (or drones). It deals with aircraft from two to 150 kg in weight and is based on the first-hand experiences of the world renowned UAV team at the UK’s University of Southampton. The book covers both the practical aspects of designing, manufacturing and flight testing and outlines and the essential calculations needed to underpin successful designs. It describes the entire process of UAV design from requirements definition to configuration layout and sizing, through preliminary design and analysis using simple panel codes and spreadsheets to full CFD and FEA models and on to detailed design with parametric CAD tools. Its focus is on modest cost approaches that draw heavily on the latest digital design and manufacturing methods, including a strong emphasis on utilizing off-the-shelf components, low cost analysis, automated geometry modelling and 3D printing. It deliberately avoids a deep theoretical coverage of aerodynamics or structural mechanics; rather it provides a design team with sufficient insights and guidance to get the essentials undertaken more pragmatically. The book contains many all-colour illustrations of the dozens of aircraft built by the authors and their students over the last ten years giving much detailed information on what works best. It is predominantly aimed at under-graduate and MSc level student design and build projects, but will be of interest to anyone engaged in the practical problems of getting quite complex unmanned aircraft flying. It should also appeal to the more sophisticated aero-modeller and those engaged on research based around fixed wing UAVs.
Author : Sonny Adiansyah
Publisher :
ISBN 13 :
Total Pages : 125 pages
Book Rating : 4.:/5 (864 download)
Download or read book Mazari UAV Adaptive Autopilot System Design and Implementation written by Sonny Adiansyah and published by . This book was released on 2013 with total page 125 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Autonomous unmanned aerial vehicle (UAV) research started at AUS in 2005. Linear and nonlinear aircraft models and system identification of the aircraft system were developed to design flight control laws. Proportional-integral-derivative control laws as well as fuzzy logic supervisory control for fixed wing autopilots in cruise mode were developed. Hardware in the loop for UAV flight simulation was also developed. The current work focuses on designing control laws for takeoff, cruise, and landing, and conducting flight test verification of these law. Implementation of control laws for different flight modes need further study in switching between flight modes. A hybrid control scheme, which acts as a supervisory control for coordinating the conventional control laws for each flight mode is proposed. This involves the usage of a state-machine block to coordinate the transition of each of the flight modes. A way of using fuzzy logic control to map the gain values for different flight equilibrium states is developed and simulated in this work. The contributions of this thesis are the development of digital flight control system software and hardware"--Abstract.
Author : 李志升
Publisher :
ISBN 13 :
Total Pages : 201 pages
Book Rating : 4.:/5 (83 download)
Download or read book Design and Implementation of Lateral Flight Controller Using Constrained Predictive Control for a Fixed-Wing Unmanned Aerial Vehicle written by 李志升 and published by . This book was released on 2012 with total page 201 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Shuyi Shao
Publisher : Springer Nature
ISBN 13 : 3030579573
Total Pages : 207 pages
Book Rating : 4.0/5 (35 download)
Download or read book Robust Discrete-Time Flight Control of UAV with External Disturbances written by Shuyi Shao and published by Springer Nature. This book was released on 2020-09-26 with total page 207 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book studies selected discrete-time flight control schemes for fixed-wing unmanned aerial vehicle (UAV) systems in the presence of system uncertainties, external disturbances and input saturation. The main contributions of this book for UAV systems are as follows: (i) the proposed integer-order discrete-time control schemes are based on the designed discrete-time disturbance observers (DTDOs) and the neural network (NN); and (ii) the fractional-order discrete-time control schemes are developed by using the fractional-order calculus theory, the NN and the DTDOs. The book offers readers a good understanding of how to establish discrete-time tracking control schemes for fixed-wing UAV systems subject to system uncertainties, external wind disturbances and input saturation. It represents a valuable reference guide for academic research on uncertain UAV systems, and can also support advanced / Ph.D. studies on control theory and engineering.
Author : James W. Gregory
Publisher : John Wiley & Sons
ISBN 13 : 111894979X
Total Pages : 352 pages
Book Rating : 4.1/5 (189 download)
Download or read book Introduction to Flight Testing written by James W. Gregory and published by John Wiley & Sons. This book was released on 2021-05-07 with total page 352 pages. Available in PDF, EPUB and Kindle. Book excerpt: Introduction to Flight Testing Introduction to Flight Testing Provides an introduction to the basic flight testing methods employed on general aviation aircraft and unmanned aerial vehicles Introduction to Flight Testing provides a concise introduction to the basic flight testing methods employed on general aviation aircraft and unmanned aerial vehicles for courses in aeronautical engineering. There is particular emphasis on the use of modern on-board instruments and inexpensive, off-the-shelf portable devices that make flight testing accessible to nearly any student. This text presents a clear articulation of standard methods for measuring aircraft performance characteristics. Topics covered include aircraft and instruments, digital data acquisition techniques, flight test planning, the standard atmosphere, uncertainty analysis, level flight performance, airspeed calibration, stall, climb and glide, take-off and landing, level turn, static and dynamic longitudinal stability, lateral-directional stability, and flight testing of unmanned aircraft systems. Unique to this book is a detailed discussion of digital data acquisition (DAQ) techniques, which are an integral part of modern flight test programs. This treatment includes discussion of the analog-to-digital conversion, sample rate, aliasing, and filtering. These critical details provide the flight test engineer with the insight needed to understand the capabilities and limitations of digital DAQ. Key features: Provides an introduction to the basic flight testing methods and instrumentation employed on general aviation aircraft and unmanned aerial vehicles. Includes examples of flight testing on general aviation aircraft such as Cirrus, Diamond, and Cessna aircraft, along with unmanned aircraft vehicles. Suitable for courses on Aircraft Flight Test Engineering. Introduction to Flight Testing provides resources and guidance for practitioners in the rapidly-developing field of drone performance flight test and the general aviation flight test community.
Author :
Publisher :
ISBN 13 :
Total Pages : 770 pages
Book Rating : 4.:/5 (319 download)
Download or read book NASA Reference Publication written by and published by . This book was released on 1977 with total page 770 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Po-Hsun Wu
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (14 download)
Download or read book Applying the PPO Algorithm to Fixed-Wing UAV Attitude Control written by Po-Hsun Wu and published by . This book was released on 2023 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis applies the reinforcement learning (RL) to design the attitude controller for fixed-wing unmanned aerial vehicle. In contrast to traditional linear control theory, which are limited to linearization, or complex nonlinear control theory solving processes, reinforcement learning utilizes an artificial neural network as the control law and applies RL algorithm to train the network by adjusting its parameters. The results demonstrate that the controller designed using the RL framework exhibits advantages over traditional control laws. Within the RL architecture, there are four main elements: policy, algorithm, reward function, and environment. In this thesis, a combination of a quadratic performance index and a time varying coefficient is used as the reward function. The categorize policy is employed as the controller, and the linearized UAV dynamic model and the fourth order Runge-Kutta method are utilized as the training environment. The Proximal Policy Optimization algorithm (PPO algorithm) is used to train the policy. Upon completing the training, a neural network controller is obtained. The results demonstrate that the trained controller successfully achieves the goal of controlling the UAV's attitude.
Author : Jon Fernandez Esnal
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (112 download)
Download or read book Nonlinear Physical Modelization, Control Law Design and Fault Detection Analysis of a Tricopter Drone written by Jon Fernandez Esnal and published by . This book was released on 2017 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Although the Unmanned Aerial Vehicles (UAV) had been used since the early 20th Century, their development has had a considerable growth during these first two decades of the 21st Century. Among the most popular UAVs, we may find the multicopters, due to the fact they involve a considerable amount of advantages, such as their small size and manoeuvrability. However, we should keep in mind that their autonomy is generally quite small because they need a relevant quantity of energy to fly. In order to mitigate the influence of that drawback, the IMS (Intégration du Matériau au Système) laboratory that is associated with the Université de Bordeaux (France) is trying to implement convertible engines to this kind of aircraft. The idea would be to change the orientation of rotors to use the advantages of both the fixed-wing aircraft (easier cruise flights) and rotor based aircraft (vertical take-offs and landings), to maximize the benefits of both modes. The aim of that project is to implement that idea on a tricopter drone, that is to say, on a UAV that has three rotors. Two out of three rotors would remain fixed with respect to the body of it, and the third one would be movable around the roll axis. This document is about the internship that has been done at that laboratory, helping to develop that project. This work involves three parts; the first one of them is the nonlinear physical modelization of the aircraft that is designed in order to have some reference that describes the way it flies. Afterwards, different control laws are used in order to make a safe implementation of the previous system at a later stage. Finally, algorithms that detect the faults that may come up throughout its flights are created. That work has been made at a simulation level, that is to say, it involves the computational tasks in order to be implemented on the actual tricopter later on, using the Matlab program and its Simulink application, as they constitute really handy tools to make this kind of analysis.
