Linear observer for estimating wind gust in UAV's

Martinez-Vasquez, Adrian H.; Rodríguez-Mata, Abraham Efraim; González-Hernández, I.; Salazar, Sergio; Montiel-Varela, Alejandro; Lozano, Rogelio

doi:10.1109/iceee.2015.7357983

Cited by 6 publications

(4 citation statements)

References 1 publication

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…Recently, unmanned aerial vehicles (UAVs) have witnessed rapid advancements in technology. UAVs have numerous applications in different fields, ranging from aerial photography to public health care, disaster management, inspection of industrial facilities, vegetation mapping, wetland ecosystem monitoring, traffic monitoring, and delivery of automated external defibrillators (AEDs) and other items [1][2][3][4][5][6][7][8][9][10][11][12] based on the ability to efficiently carry out diverse tasks, including those with reduced operational cost compared to satellites and conventional aircraft, those in areas preventing ready access by human resources, and those requiring high mobility unaltered by traffic congestion or topography [13].…”

Section: Introductionmentioning

confidence: 99%

Selection of Take-Off and Landing Sites for Firefighter Drones in Urban Areas Using a GIS-Based Multi-Criteria Model

Kim

Hong

Lee

et al. 2022

Drones

View full text Add to dashboard Cite

Currently, firefighter drones in South Korea underperform due to the lack of take-off site reservations in advance. In order to address this issue, this study proposes a GIS-based multi-criteria model for selecting take-off and landing sites for firefighter drones in urban areas. Seven criteria were set for the selection of take-off and landing sites based on building roofs. Buildings at 318 sites in the target area that satisfy all seven criteria were extracted and grouped according to the geographical location. Among the grouped buildings, 11 sites were reselected through network analysis and central feature methods. In addition, two more sites were selected through the relaxation of criteria for take-off and landing sites for firefighter drones. Validation was performed using the data of building fires that occurred in the target area in the past. The results confirmed the effectiveness of the method applied in this study, as potential responses could be verified for ≥95% of the buildings with a past fire incidence. By introducing a simple methodology in which a multi-criteria model is built through spatial information, this study contributes to the literature on improving operational firefighting strategies and provides practitioners and policymakers with valuable insights to support decision-making.

show abstract

Section: Introductionmentioning

confidence: 99%

Selection of Take-Off and Landing Sites for Firefighter Drones in Urban Areas Using a GIS-Based Multi-Criteria Model

Kim

Hong

Lee

et al. 2022

Drones

View full text Add to dashboard Cite

show abstract

“…Yüksel, Secchi, Bülthoff, & Franchi (2014) presented Lyapunov method for external forces and moments in flying robots. Martínez-Vásquez et al (2015) implemented a linear observer with integral action for estimating the disturbances due to a wind in hover flight mode. Qu, Xing, & Zhang (2016) used a decomposition of the hovering state equations to estimate the wind, and Qu, Xing, Zhang, & Yu (2017) extended the work using both IMU and a smoothing filter to reduce the effect of sensor noise.…”

Section: Introductionmentioning

confidence: 99%

Using a quadrotor as wind sensor: time-varying parameter estimation algorithms

Perozzi

Efimov

Biannic

et al. 2020

International Journal of Control

View full text Add to dashboard Cite

The objective of this paper is to develop an algorithm for the estimation of time-varying wind parameters by taking into account a detailed quadrotor model. The design objectives include the time convergence optimization, robustness to measurement noises, and a guaranteed convergence of the estimates to the true values under mild applicability conditions. It is supposed that the estimation algorithm can use IMU (accelerometers, gyroscopes) sensors augmented with an earth reference tracking system and rotor rotational velocity sensors. To this end, three time-varying parameter estimation algorithms are introduced, compared and finally merged to estimate the varying wind velocity in on-board quadrotor systems. Final numerical experiments, using a nonlinear quadrotor simulator, are used to validate the proposed approaches.

show abstract

“…The problem of wind estimation was also addressed in [9], where an extended state observer is developed to identify wind disturbances, but only indoor experiments where conducted to validate this method. A linear observer for the estimation of wind disturbances is presented in [10]. Real-time outdoor experiments where conducted using a GPS receiver to test the proposed method in real flight conditions.…”

Section: Introductionmentioning

confidence: 99%

Observer-based Super Twisting Controller Robust to Wind Perturbation for Multirotor UAV

Hamadi

Lussier

Fantoni

et al. 2019

2019 International Conference on Unmanned Aircraft Systems (ICUAS)

View full text Add to dashboard Cite

Control design for multi rotors UAV is an important challenge for engineers and scientists, due to the fact that the standard configurations are under-actuated, highly nonlinear, and unstable systems. In this paper, a wind force compensation strategy is proposed for a quadrotor. This strategy relies on a second order sliding mode controller based on the super twisting algorithm (STA) with an observer. Second order sliding mode technique ensures robustness to external disturbances and time varying, parametric and nonlinear uncertainties. Integration of an observer in the closed-loop system is needed for states reconstruction and the estimation of unknown external forces such as the wind effect. This estimation will allow a better monitoring of the system's status than passive robustness, providing the opportunity for recovery tactics such as an emergency landing when the external perturbations become too strong for the system. The effectiveness of the proposed strategy is compared to an adaptative gain controller through simulation and validated in real experiments on a quadrotor.

show abstract

Linear observer for estimating wind gust in UAV's

Cited by 6 publications

References 1 publication

Selection of Take-Off and Landing Sites for Firefighter Drones in Urban Areas Using a GIS-Based Multi-Criteria Model

Selection of Take-Off and Landing Sites for Firefighter Drones in Urban Areas Using a GIS-Based Multi-Criteria Model

Using a quadrotor as wind sensor: time-varying parameter estimation algorithms

Observer-based Super Twisting Controller Robust to Wind Perturbation for Multirotor UAV

Contact Info

Product

Resources

About