Center-of-Gravity Variation-Driven Spherical UAV System and Its Control Law

Kim, Dong Hoon; Yang, Sungwook

doi:10.1155/2020/5754205

Cited by 5 publications

(2 citation statements)

References 12 publications

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“…To control the position of the quadcopter with respect to the inertial frame, the translational motion of the quadcopter expressed in the inertial frame is derived as [19] m…”

Section: Quadcopter Control Logicmentioning

confidence: 99%

Enhanced Potential Field-Based Collision Avoidance in Cluttered Three-Dimensional Urban Environments

2021

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With the various applications of unmanned aerial vehicles (UAVs), the number of UAVs will increase in limited airspace, leading to an increased risk collision. To reduce such potential risk, this work proposes a collision avoidance strategy for UAVs using an enhanced potential field (EPF) approach in cluttered three-dimensional urban environments. Using the EPF formulated in a two-dimensional environment, the avoidance maneuvers for both horizontal and vertical planes are generated by introducing rotation matrices, and these maneuvers are combined by applying a weighting factor. The numerical simulations with various meaningful scenarios are conducted to validate the performance of the proposed approach. To mimic practical situations, UAV dynamics and sensor limitations were considered. The simulation results show that the proposed approach provides an efficient, reliable, and collision-free path without local minima and unreachable goal issues.

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“…To control the position of the quadcopter with respect to the inertial frame, the translational motion of the quadcopter expressed in the inertial frame is derived as [19] m…”

Section: Quadcopter Control Logicmentioning

confidence: 99%

Enhanced Potential Field-Based Collision Avoidance in Cluttered Three-Dimensional Urban Environments

2021

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“…position due to unbalanced payload deployment and mass imbalance (Lee et al , 2017). This makes the UAV dynamics significantly asymmetric (Kim and Yang, 2020). The control design task becomes more challenging when the c.g.…”

Section: Introductionmentioning

confidence: 99%

Adaptive block backstepping control for a UAV performing lateral maneuvers under lateral c.g. uncertainty

Khanna

Singh

Mukherjee

2022

AEAT

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Purpose Unmanned aerial vehicles (UAVs) have wide applications in surveillance and reconnaissance without risking human life. Due to unbalanced payload distribution or in-flight deployment, UAVs may undergo lateral center of gravity (c.g.) variations resulting in an asymmetric dynamic having significant longitudinal and lateral/directional coupling and hence more pronounced nonlinearity. Therefore, automatic control of UAVs becomes extremely difficult when it is forced to perform maneuvers under such imbalance in lateral mass distribution. The purpose of this paper is to design adaptive nonlinear control so that the UAV can perform some useful lateral/directional maneuver under lateral c.g. uncertainty. Design/methodology/approach First the nominal lateral/directional dynamics of a fixed-wing UAV is framed into strict feedback form and then the block backstepping approach is used to design the controller to execute horizontal turn and aileron roll maneuvers under no lateral c.g. variation. Thereafter, an adaptive block backstepping controller is designed to adapt to uncertainty in lateral c.g. position considering an approximate model of the asymmetric dynamics. The proposed adaptive scheme is validated against the same two maneuvers as considered for the nominal case. Findings First it is shown that the lateral/directional dynamics of a UAV can be converted to a block strict feedback form for executing some lateral/directional maneuvers. However, it was observed that the maneuver performance suffers significant performance degradation under lateral c.g. variations. To mitigate this issue, a simple and computationally inexpensive adaptive block backstepping scheme is proposed and validated. The adaptation law is further proved to be able to asymptotically estimate the actual c.g. location of the UAV. Practical implications The proposed control scheme allows the UAV to automatically adapt to lateral c.g. variations so that the intended maneuvers are performed without any noticeable loss in maneuver performance. Originality/value There are very few works available in the literature that address nonlinear control designs for executing specific lateral/directional maneuvers and, moreover, they consider symmetric UAVs or aircraft only. This paper addresses the practical problem of autonomous maneuvering for UAVs with unbalanced lateral mass distribution leading to shift of c.g. out of its plane of symmetry.

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