$\mathcal {L}{}_{1}$ Adaptive Path-Following of Small Fixed-Wing Unmanned Aerial Vehicles in Wind

Souanef, Toufik

doi:10.1109/taes.2022.3153758

Cited by 17 publications

(7 citation statements)

References 40 publications

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“…In this paper we formulate the problem of 3D pathfollowing of airships as a control systems design problem in the presence of parametric uncertainties and external disturbances. The approach was first presented for small fixed-wing UAVs path-following in wind [26] . Assuming that wind is time-varying, the proposed solution is based on a new design of the L 1 adaptive controller based on sliding mode control.…”

Section: Introductionmentioning

confidence: 99%

ℒ1 Adaptive Path-Following of Airships in Wind

2023

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This paper proposes an adaptive, three-dimensional (3D) path-following controller for airships in the presence of wind disturbances, which explicitly considers that wind speed is time-varying. The main idea is to formulate airship path-following as control design for systems in the presence of parametric uncertainties and external disturbances. Assuming that there is no prior information on wind, the proposed solution is based on the [Formula: see text] adaptive controller. This approach makes clear statements for performance specifications of the controller and relaxes the common assumption that wind speed is constant. This makes the design more realistic and the analysis more rigorous, because in practice, the wind speed may be time-varying. The results of the simulation indicate that the path following system has a good performance and is robust against wind disturbances.

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Section: Introductionmentioning

confidence: 99%

ℒ1 Adaptive Path-Following of Airships in Wind

2023

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“…Then, the wind influences on the position and velocity of UAV are compensated by using the estimate of wind speed [36]. Another approach is that the robust controller, such as L 1 adaptive controller [37], should be substituted for traditional PID controller to improve the robust performance against disturbances.…”

Section: Discussionmentioning

confidence: 99%

An Effective Strategy for Collision Avoidance of Multiple UAVs With Unknown Acceleration

Tao,

Guo,

Shang

2023

IEEE Access

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In this article, an effective strategy using mixed 3-D geometric and the miss distance approach is proposed for the collision avoidance between multiple UAVs with unknown acceleration. At each time sampling, conflict detection of multiple UAVs is first performed. If the conflict exists, the expected heading angle or/and expected elevation angle of UAV are computed. Then, UAV begins to perform the avoidance maneuvers. The heading angle or/and elevation angle of UAV are uniformly adjusted to the expected value. The condition required for successful collision avoidance is derived for the proposed strategy. To enhance safety during execution of avoidance maneuver, a simple and feasible modify measure is presented. In the case of multiple UAVs, a logic to allocate the avoidance prioritization of each UAV is proposed. The trajectory recovery algorithm is presented to ensure UAV to return to the planning flight paths. For the proposed strategy, it is not assumed that all UAVs have constant ground speeds and direction of the velocity. Thus, it is very suitable in reality application. Numerical simulation results show the efficiency and superiority of the proposed strategy.

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“…The flight dynamics that work on a fixed wing can be divided into longitudinal and lateral modes [58][59][60][61][62]. The longitudinal modes include translational motion on the 𝑥and 𝑧-axes and rotational motion around the 𝑦-axis.…”

Section: Analytical Modelingmentioning

confidence: 99%

Validation of Quad Tail-sitter VTOL UAV Model in Fixed Wing Mode

Priyambodo

Majid²,

Shouran³

2023

Journal of Robotics and Control

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Vertical take-off and landing (VTOL) is a type of unmanned aerial vehicle (UAV) that is growing rapidly because its ability to take off and land anywhere in tight spaces. One type of VTOL UAV, the tail-sitter, has the best efficiency. However, besides the efficiency offered, some challenges must still be overcome, including the complexity of combining the ability to hover like a helicopter and fly horizontally like a fixed-wing aircraft. This research has two contributions: in the form of how the analytical model is generated and the tools used (specifically for the small VTOL quad tail-sitter UAV) and how to utilize off-the-shelf components for UAV empirical modeling. This research focuses on increasing the speed and accuracy of the UAV VTOL control design in fixed-wing mode. The first step is to carry out analysis and simulation. The model is analytically obtained using OpenVSP in longitudinal and lateral modes. The next step is to realize this analytical model for both the aircraft and the controls. The third step is to measure the flight characteristics of the aircraft. Based on the data recorded during flights, an empirical model is made using system identification technique. The final step is to vali-date the analytical model with the empirical model. The results show that the characteristics of the analytical mode fulfill the specified requirements and are close to the empirical model. Thus, it can be concluded that the analytical model can be implemented directly, and consequently, the VTOL UAV design and development process has been shortened.

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$\mathcal {L}{}_{1}$ Adaptive Path-Following of Small Fixed-Wing Unmanned Aerial Vehicles in Wind

Cited by 17 publications

References 40 publications

ℒ1 Adaptive Path-Following of Airships in Wind

ℒ1 Adaptive Path-Following of Airships in Wind

An Effective Strategy for Collision Avoidance of Multiple UAVs With Unknown Acceleration

Validation of Quad Tail-sitter VTOL UAV Model in Fixed Wing Mode

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