Integrated motion planning and trajectory control system for unmanned air vehicles

Karimi, Jalal; Pourtakdoust, Seid H.

doi:10.1177/0954410011432244

Cited by 15 publications

(14 citation statements)

References 23 publications

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“…The rapid change in the vertical wind speed due to a discrete gust can cause transient load and thereby change the aircraft motion. The mathematical representation of the discrete gust as given in Roskam, 39 Karimi and Pourtakdoust 40 and Gu et al. 41 is The influence of the vertical wind field to the aircraft motion is reflected in the change of angle of attack of the aircraft and is given as 42,43 where and V m = 60 m/s represents the gust amplitude, d m = 120 m is the gust length, x is the distance traveled, Vwind is the resultant wind velocity in the body axis frame and V is the speed of the level flight.…”

Section: Simulations and Resultsmentioning

confidence: 99%

Robust aircraft control based on UDE theory

Kodhanda

Kolhe

Zeru

et al. 2016

Proceedings of the Institution of Mechanical Engineers, Part G:

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In this work, the Uncertainty and Disturbance Estimation (UDE) approach is employed for the design of a robust flight controller for high performance aircraft. The UDE estimated uncertainty is used to robustify an input–output linearization-based controller designed for nominal system. The UDE theory employing a first-order filter and α-filter is used for the estimation of the composite uncertainty. To address the issue of output derivatives, an observer which too employs the UDE estimated uncertainties for the purpose of robustness is designed. Closed-loop stability for the overall controller-observer system is established. Uncertainties and disturbances in terms of parametric variations, wind gust, unmodeled actuator dynamics and measurement noise are considered to evaluate and compare performances of the two filter-based designs. Further, a performance comparison with some of the existing designs is carried out and the results are presented to demonstrate the efficacy of the proposed work. A notable feature of the proposed design is that the approach neither requires an accurate plant model nor any information about the uncertainties and disturbances.

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Section: Simulations and Resultsmentioning

confidence: 99%

Robust aircraft control based on UDE theory

Kodhanda

Kolhe

Zeru

et al. 2016

Proceedings of the Institution of Mechanical Engineers, Part G:

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“…Substituting forα andφ from Equations (10) and (11), respectively, and equating Equation (13) and Equation (22) and also equating Equation (14) and Equation (23) and then solving the obtained system for α c and ϕ c , gives:…”

Section: Aircraft Dynamic Modellingmentioning

confidence: 99%

Online aircraft velocity and normal acceleration planning for rough terrain following

Kazemifar¹,

Babaei²,

Mortazavi

2017

Aeronaut. j.

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This paper attempts to develop an efficient online algorithm for terrain following in completely unknown rough terrain environments while incorporating aircraft dynamics in the guidance strategy. Unlike most existing works, the proposed algorithm does not generate the flight path directly. The algorithm employs acquired information from the vehicle onboard sensors and rapidly issues appropriate Guidance Commands (GCs) at every point along the way. A suitable dynamic model is developed which takes the lags in the vehicle dynamics into account. The flight path forms gradually as a result of applying the GCs to the vehicle dynamics. Terrain-conforming capability afforded by this approach allows for autonomous and safe low-level flight in unknown mountainous areas. It considerably enhances the autonomy level of the vehicle and in the case of manned aircraft could significantly lead to pilot workload reduction. The proposed scheme is proven to be promising for online applications.

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“…Routing for UVs has been addressed by several authors in [10][11][12]. The single vehicle version of the MHUVRP has been addressed by Khuller at al.…”

Section: Mathematical Problems In Engineeringmentioning

confidence: 99%

Heuristics for Routing Heterogeneous Unmanned Vehicles with Fuel Constraints

Levy

Sundar

Rathinam

2014

Mathematical Problems in Engineering

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This paper addresses a multiple depot, multiple unmanned vehicle routing problem with fuel constraints. The objective of the problem is to find a tour for each vehicle such that all the specified targets are visited at least once by some vehicle, the tours satisfy the fuel constraints, and the total travel cost of the vehicles is a minimum. We consider a scenario where the vehicles are allowed to refuel by visiting any of the depots or fuel stations. This is a difficult optimization problem that involves partitioning the targets among the vehicles and finding a feasible tour for each vehicle. The focus of this paper is on developing fast variable neighborhood descent (VND) and variable neighborhood search (VNS) heuristics for finding good feasible solutions for large instances of the vehicle routing problem. Simulation results are presented to corroborate the performance of the proposed heuristics on a set of 23 large instances obtained from a standard library. These results show that the proposed VND heuristic, on an average, performed better than the proposed VNS heuristic for the tested instances.

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Integrated motion planning and trajectory control system for unmanned air vehicles

Cited by 15 publications

References 23 publications

Robust aircraft control based on UDE theory

Robust aircraft control based on UDE theory

Online aircraft velocity and normal acceleration planning for rough terrain following

Heuristics for Routing Heterogeneous Unmanned Vehicles with Fuel Constraints

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