Adaptive Control for a VTOL UAV Operating Near a Wall

Lee, Daewon; Awan, Asad Ullah; Kim, Suseoung; Kim, H. Jin

doi:10.2514/6.2012-4835

Cited by 17 publications

(6 citation statements)

References 6 publications

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“…This problem can be mitigated using specific control algorithms on the UAV controller or making some hardware modifications. In [ 30 ], a controller that adapts in real-time against external disturbances is presented and tested in a near-wall flight.…”

Section: Related Workmentioning

confidence: 99%

Towards Precise Positioning and Movement of UAVs for Near-Wall Tasks in GNSS-Denied Environments

Orjales

Losada-Pita

Deibe

2021

Sensors

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UAVs often perform tasks that require flying close to walls or structures and in environments where a satellite-based location is not possible. Flying close to solid bodies implies a higher risk of collisions, thus requiring an increase in the precision of the measurement and control of the UAV’s position. The aerodynamic distortions generated by nearby walls or other objects are also relevant, making the control more complex and further placing demands on the positioning system. Performing wall-related tasks implies flying very close to the wall and, in some cases, even touching it. This work presents a Near-Wall Positioning System (NWPS) based on the combination of an Ultra-wideband (UWB) solution and LIDAR-based range finders. This NWPS has been developed and tested to allow precise positioning and orientation of a multirotor UAV relative to a wall when performing tasks near it. Specific position and orientation control hardware based on horizontal thrusters has also been designed, allowing the UAV to move smoothly and safely near walls.

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Section: Related Workmentioning

confidence: 99%

Towards Precise Positioning and Movement of UAVs for Near-Wall Tasks in GNSS-Denied Environments

Orjales

Losada-Pita

Deibe

2021

Sensors

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“…To the authors’ knowledge, there are few studies about the corner effect of open-rotor UAVs [ 36 ]. At the same time, the study of the corner effect on ducted-structure aerial robots is even rarer.…”

Section: The Aerodynamic Influence Of Corner Effect On the Prototymentioning

confidence: 99%

Modeling of a Novel Coaxial Ducted Fan Aerial Robot Combined with Corner Environment by Using Artificial Neural Network

Chen

et al. 2020

Sensors

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A novel coaxial ducted fan aerial robot with a manipulator is proposed which can achieve some hover operation tasks in a corner environment, such as switching on and off a wall-attached button on the corner. In order to study the aerodynamic interference between the prototype and the environment when the aerial robot is hovering in the corner environment, a method for the comprehensive modeling of the prototype and corner environment based on the artificial neural network is presented. By using the CFD simulation software, the flow field of the prototype at different positions with the corner effect is analyzed. After determining the input, output and structure of the neural network model, the Adam and gradient descent algorithms are selected as the neural network training algorithms, respectively. In addition, to optimize the initial weights and biases of the neural network model, the genetic algorithm is precisely used. The three-dimensional prediction surfaces generated by the three methods of the neural network, kriging surface and the polynomial fitting are compared. The results show that the neural network has high prediction accuracy, and can be applied to the comprehensive modeling of the prototype and the corner environment.

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“…An early study introduced a control scheme for a micro VTOL UAV without disturbance [4]. More complex control problems in the presence of disturbances were studied by proposing disturbance observer-based control method in [26], higher-orderobserver-based dynamic SMC [29] and adaptive SMC in [1], [23]. An integrated disturbance observer, MPC, and sliding mode nonlinear inverse were proposed for a tail rotor tilting three ducted fans VTOL-UAV [18].…”

Section: Introductionmentioning

confidence: 99%

Extended Discrete-Time Quasi-Sliding Mode Control for VTOL UAV in the Presence of Uncertain Disturbances

et al. 2023

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The discrete control problem of vertical take-off and landing unmanned aerial vehicle (VTOL UAV) in the presence of time-varying uncertain disturbances is developed in this paper. The complexity of control problem is managed by dividing the dynamical model into two subsystems i.e. translational dynamics and rotational dynamics, where each subsystem is composed of three states. A discrete-time quasi-sliding mode control (DTQSMC) is extended to maintain the trajectory tracking control by proposing a new-reaching law for VTOL UAV. A robust controller is designed to handle unknown time-varying disturbances acting upon the translational and rotational dynamics. Moreover, the proposed controller is designed to reduce the chattering issue that commonly appears in conventional sliding mode control (SMC). Rigorous mathematical proof is presented to analyze the stability of the entire closed-loop system. The performance of this design is demonstrated with numerous numerical analyses and simulations.INDEX TERMS Chattering, discrete-time, disturbances, quasi-sliding mode control, time-varying, UAV, VTOL.

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Adaptive Control for a VTOL UAV Operating Near a Wall

Cited by 17 publications

References 6 publications

Towards Precise Positioning and Movement of UAVs for Near-Wall Tasks in GNSS-Denied Environments

Towards Precise Positioning and Movement of UAVs for Near-Wall Tasks in GNSS-Denied Environments

Modeling of a Novel Coaxial Ducted Fan Aerial Robot Combined with Corner Environment by Using Artificial Neural Network

Extended Discrete-Time Quasi-Sliding Mode Control for VTOL UAV in the Presence of Uncertain Disturbances

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