UAV Lab, Open Research Platform for Unmanned Aerial Vehicles

Bauer, Péter; Chai, Paw Yew; Iannelli, Luigi; Pandita, Rohit; Regula, Gergely; Vanek, Bálint; Balas, Gary J.; Glielmo, Luigi; Bokor, József

doi:10.1007/978-3-642-19817-5_14

Cited by 6 publications

(4 citation statements)

References 2 publications

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“…The following part is the comparison of the new method with a baseline solution (PID roll tracking controller and P yawdamper) (see [5] and [9]). The two solutions are compared in simulations executed on the linear and nonlinear system models.…”

Section: Discussionmentioning

confidence: 99%

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Tuning and testing of a minimax tracking controller for aircraft dynamics

Bauer

Bokor

2011

2011 19th Mediterranean Conference on Control &Amp; Automation (MED)

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Abstract-The paper presents the tuning and testing of an LQ optimal minimax tracking controller which is capable of attenuating low frequency deterministic, and all frequency stochastic disturbances. The controller -based on a multiple step solution -is developed for discrete time, LTI systems affected by the above mentioned disturbances. Its capabilities are demonstrated in an unmanned aircraft application example. The tracking and disturbance rejection properties are compared with a previous baseline control solution in simulations with linear and nonlinear aircraft models. The advantages of the proposed scheme are highlighted against the baseline design.

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Section: Discussionmentioning

confidence: 99%

“…The system is described in detail in [4], [5] and [9]. This paper deals with the low level control of aircraft lateral dynamics which includes the tracking of roll angle reference (later generated by high level controllers), the damping of high frequency yaw-rate (yawdamper) and the attenuation of engine and wind torque disturbances.…”

Section: Introductionmentioning

confidence: 99%

Tuning and testing of a minimax tracking controller for aircraft dynamics

Bauer

Bokor

2011

2011 19th Mediterranean Conference on Control &Amp; Automation (MED)

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“…Tests are made in a hardware-in-the-loop (HIL) test environment of a UAV system, which is used to validate the navigation and control algorithms and the hardware components of the system before flight tests. The environment is used to test the fault tolerant avionics architecture being developed at SZTAKI [1]. The current set-up contains a PC running the dynamic model of the UAV and its environment, two Flight Control Computers (FCCs), three servo actuators and the network interconnecting them [10], [12], [16] shown in Fig.…”

Section: A Controlmentioning

confidence: 99%

“…In our approach the FCC sends commands over a digital channel to the actuators, where the smart unit takes care of the internal control tasks of servo control and Pulse Width Modulation (PWM) control of the DC motor inside the actuator. Besides the local control tasks the unit is also capable of providing fault detection capabilities ( [15]), since position, back electromotive force 1 and drawn current are all measured and using the mathematical model of the actuator analytic parity relations can be used to identify anomalous behavior.…”

Section: Introductionmentioning

confidence: 99%

Smart mini actuators for safety critical unmanned aerial vehicles

Réti

Lukátsi

Vanek

et al. 2013

2013 Conference on Control and Fault-Tolerant Systems (SysTol)

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Abstract-The present article details the development steps and experimental results obtained during the development of smart actuators used for mini Unmanned Aerial Vehicles. Unlike the commercial off-the-shelf hobby components, these units are able to measure position, angular rate and current, furthermore with their controlling microprocessors they are capable of establishing two way communication via CAN and FlexRay protocol. They are suitable for safety critical applications, and self diagnostics features are also hosted onboard the actuators to be part of a redundant, distributed control network. The development challenges and experimental results in an example hardware-in-the-loop simulator of an Unmanned Aerial System are discussed in the paper.

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A Modified Total Energy Control Scheme for Unmanned Aircraft

Bauer

2023

J Intell Robot Syst

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The paper focuses on safety and simplicity of unmanned aircraft longitudinal control and proposes a new combination of total energy control (TECS) and conventional control. The introduced new modified total energy control (TECSMOD) method applies IAS priority all the time. IAS is controlled through the elevator while the total energy of the system and so the altitude is maintained with throttle. Neither engine fault or stall detection nor switching logic is required while stall is prevented keeping the solution simple and safe. To prove the viability of the new concept it is compared to a conventional multiple zone PI controller and the TECS solution in simulation and real flight tests. First, the six degrees of freedom simulation model of the Sindy test UAV (developed and built in Institute for Computer Science and Control, HUN-REN, Hungary) is verified comparing its inputs and outputs to flight results. Then a simulation campaign is done for all three controllers with special test cases which can be critical according to the literature. Finally, real flight test comparison is done considering IAS and altitude tracking and engine fault handling. The new method was the best in IAS tracking with acceptable results in altitude tracking and successful stall prevention upon engine fault (without any fault detection or switching). Future improvements can be fine tuning for improved altitude tracking with the price of decreased IAS tracking performance and the introduction of a glideslope tracking mode for landing scenarios.

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UAV Lab, Open Research Platform for Unmanned Aerial Vehicles

Cited by 6 publications

References 2 publications

Tuning and testing of a minimax tracking controller for aircraft dynamics

Tuning and testing of a minimax tracking controller for aircraft dynamics

Smart mini actuators for safety critical unmanned aerial vehicles

A Modified Total Energy Control Scheme for Unmanned Aircraft

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