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1 – 10 of over 1000This research study aims to minimize autonomous flight cost and maximize autonomous flight performance of a slung load carrying rotary wing mini unmanned aerial vehicle (i.e. UAV…
Abstract
Purpose
This research study aims to minimize autonomous flight cost and maximize autonomous flight performance of a slung load carrying rotary wing mini unmanned aerial vehicle (i.e. UAV) by stochastically optimizing autonomous flight control system (AFCS) parameters. For minimizing autonomous flight cost and maximizing autonomous flight performance, a stochastic design approach is benefitted over certain parameters (i.e. gains of longitudinal PID controller of a hierarchical autopilot system) meanwhile lower and upper constraints exist on these design parameters.
Design/methodology/approach
A rotary wing mini UAV is produced in drone Laboratory of Iskenderun Technical University. This rotary wing UAV has three blades main rotor, fuselage, landing gear and tail rotor. It is also able to carry slung loads. AFCS variables (i.e. gains of longitudinal PID controller of hierarchical autopilot system) are stochastically optimized to minimize autonomous flight cost capturing rise time, settling time and overshoot during longitudinal flight and to maximize autonomous flight performance. Found outcomes are applied during composing rotary wing mini UAV autonomous flight simulations.
Findings
By using stochastic optimization of AFCS for rotary wing mini UAVs carrying slung loads over previously mentioned gains longitudinal PID controller when there are lower and upper constraints on these variables, a high autonomous performance having rotary wing mini UAV is obtained.
Research limitations/implications
Approval of Directorate General of Civil Aviation in Republic of Türkiye is essential for real-time rotary wing mini UAV autonomous flights.
Practical implications
Stochastic optimization of AFCS for rotary wing mini UAVs carrying slung loads is properly valuable for recovering autonomous flight performance cost of any rotary wing mini UAV.
Originality/value
Establishing a novel procedure for improving autonomous flight performance cost of a rotary wing mini UAV carrying slung loads and introducing a new process performing stochastic optimization of AFCS for rotary wing mini UAVs carrying slung loads meanwhile there exists upper and lower bounds on design variables.
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Olena Connor, Harry Pedersen, Nancy J. Cooke and Heather Pringle
The great success of unmanned aerial vehicles (UAVs) in performing near-real time tactical, reconnaissance, intelligence, surveillance and other various missions has attracted…
Abstract
The great success of unmanned aerial vehicles (UAVs) in performing near-real time tactical, reconnaissance, intelligence, surveillance and other various missions has attracted broad attention from military and civilian communities. A critical contribution to the increase and extension of UAV applications, resides in the separation of pilot and vehicle allowing the operator to avoid dangerous and harmful situations. However, this apparent benefit has the potential to lead to problems when the role of humans in remotely operating “unmanned” vehicles is not considered. Although, UAVs do not carry humans onboard, they do require human control and maintenance. To control UAVs, skilled and coordinated work of operators on the ground is required.
If these tasks are broken down by aircrew position, the pilot (often called the operator) is the prime command and control coordinator, while the second crew member (the sensor…
Abstract
If these tasks are broken down by aircrew position, the pilot (often called the operator) is the prime command and control coordinator, while the second crew member (the sensor operator) is responsible for collecting, processing and communicating sensor data. There is often an overlap of duties between these two crew members, but the operation of smaller UAVs is commonly only controlled by these two personnel. An illustration of the ground control shelter interface used by a typical Army UAV pilot (AVO, Air Vehicle Operator) for the US Army Shadow UAV follows (Fig. 1).
The purpose of this paper is to improve autonomous flight performance of an unmanned aerial vehicle (UAV) having actively sweep angle morphing wing using simultaneous UAV and…
Abstract
Purpose
The purpose of this paper is to improve autonomous flight performance of an unmanned aerial vehicle (UAV) having actively sweep angle morphing wing using simultaneous UAV and flight control system (FCS) design.
Design/methodology/approach
An UAV is remanufactured in the ISTE Unmanned Aerial Vehicle Laboratory. Its wing sweep angle can vary actively during flight. FCS parameters and wing sweep angle are simultaneously designed to optimize autonomous flight performance index using a stochastic optimization method called as simultaneous perturbation stochastic approximation (SPSA). Results obtained are applied for flight simulations.
Findings
Using simultaneous design process of an UAV having actively sweep angle morphing wing and FCS design, autonomous flight performance index is maximized.
Research limitations/implications
Authorization of Directorate General of Civil Aviation in Turkey is crucial for real-time UAV flights.
Practical implications
Simultaneous UAV having actively sweep angle morphing wing and FCS design process is so beneficial for recovering UAV autonomous flight performance index.
Social implications
Simultaneous UAV having actively sweep angle morphing wing and FCS design process achieves confidence, high autonomous performance index and simple service demands of UAV operators.
Originality/value
Composing a novel approach to improve autonomous flight performance index (e.g. less settling and rise time, less overshoot meanwhile trajectory tracking) of an UAV and creating an original procedure carrying out simultaneous UAV having actively sweep angle morphing wing and FCS design idea.
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Hangyue Zhang, Yanchu Yang and Rong Cai
This paper aims to present numerical simulations for a series of flight processes for the postlaunching stage of the “balloon-borne UAV system.” It includes the balloon further…
Abstract
Purpose
This paper aims to present numerical simulations for a series of flight processes for the postlaunching stage of the “balloon-borne UAV system.” It includes the balloon further ascent motion after airborne launching. In terms of unmanned aerial vehicles (UAVs), the tailspin state and the charge-out process with an anti-tailspin parachute-assisted suspending are analyzed. Then, the authors conduct trajectory optimization simulations for the long-distance gliding process.
Design/methodology/approach
The balloon kinematics model and the parachute Kane multibody dynamic model are established. Using steady-state tailspin to reduced-order analysis and achieving change-out simulation by parachute suspension dynamic model. A reentry optimization control problem is developed and the Radau pseudo-spectral method is used to calculate the glide trajectory.
Findings
The established dynamic model and trajectory optimization method can effectively simulate the motion process of balloons and UAVs. The system mass reduction for launching UAVs will not cause damage to the balloon structure. The anti-tailspin parachute can reduce the UAV attack angles effectively. The UAV can glide to the designated target position by adjusting the attack angle and sideslip angle. The farthest flight distance after launching from 20 km height is 94 km and the gliding time is 40 min, which demonstrates the potential application advantage of high-altitude launching.
Practical implications
The research content and related conclusions of this article achieve a closed-loop analysis of the flight mission chain for the “balloon-borne UAV system,” which provides simulation references for relevant balloon launching experiments.
Originality/value
This paper establishes a complete set of numerical simulation models and can effectively analyze various postlaunching behaviors.
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Ziyuan Ma, Huajun Gong and Xinhua Wang
The purpose of this paper is to construct an event-triggered finite-time fault-tolerant formation tracking controller, which can achieve a time-varying formation control for…
Abstract
Purpose
The purpose of this paper is to construct an event-triggered finite-time fault-tolerant formation tracking controller, which can achieve a time-varying formation control for multiple unmanned aerial vehicles (UAVs) during actuator failures and external perturbations.
Design/methodology/approach
First, this study developed the formation tracking protocol for each follower using UAV formation members, defining the tracking inaccuracy of the UAV followers’ location. Subsequently, this study designed the multilayer event-triggered controller based on the backstepping method framework within finite time. Then, considering the actuator failures, and added self-adaptive thought for fault-tolerant control within finite time, the event-triggered closed-loop system is subsequently shown to be a finite-time stable system. Furthermore, the Zeno behavior is analyzed to prevent infinite triggering instances within a finite time. Finally, simulations are conducted with external disturbances and actuator failure conditions to demonstrate formation tracking controller performance.
Findings
It achieves improved performance in the presence of external disturbances and system failures. Combining limited-time adaptive control and event triggering improves system stability, increase robustness to disturbances and calculation efficiency. In addition, the designed formation tracking controller can effectively control the time-varying formation of the leader and followers to complete the task, and by adding a fixed-time observer, it can effectively compensate for external disturbances and improve formation control accuracy.
Originality/value
A formation-following controller is designed, which can handle both external disturbances and internal actuator failures during formation flight, and the proposed method can be applied to a variety of formation control scenarios and does not rely on a specific type of UAV or communication network.
Details
Keywords
Mingke Gao, Zhenyu Zhang, Jinyuan Zhang, Shihao Tang, Han Zhang and Tao Pang
Because of the various advantages of reinforcement learning (RL) mentioned above, this study uses RL to train unmanned aerial vehicles to perform two tasks: target search and…
Abstract
Purpose
Because of the various advantages of reinforcement learning (RL) mentioned above, this study uses RL to train unmanned aerial vehicles to perform two tasks: target search and cooperative obstacle avoidance.
Design/methodology/approach
This study draws inspiration from the recurrent state-space model and recurrent models (RPM) to propose a simpler yet highly effective model called the unmanned aerial vehicles prediction model (UAVPM). The main objective is to assist in training the UAV representation model with a recurrent neural network, using the soft actor-critic algorithm.
Findings
This study proposes a generalized actor-critic framework consisting of three modules: representation, policy and value. This architecture serves as the foundation for training UAVPM. This study proposes the UAVPM, which is designed to aid in training the recurrent representation using the transition model, reward recovery model and observation recovery model. Unlike traditional approaches reliant solely on reward signals, RPM incorporates temporal information. In addition, it allows the inclusion of extra knowledge or information from virtual training environments. This study designs UAV target search and UAV cooperative obstacle avoidance tasks. The algorithm outperforms baselines in these two environments.
Originality/value
It is important to note that UAVPM does not play a role in the inference phase. This means that the representation model and policy remain independent of UAVPM. Consequently, this study can introduce additional “cheating” information from virtual training environments to guide the UAV representation without concerns about its real-world existence. By leveraging historical information more effectively, this study enhances UAVs’ decision-making abilities, thus improving the performance of both tasks at hand.
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Clarence E. Rash, Patricia A. LeDuc and Sharon D. Manning
DoD accidents are classified according to the severity of injury, occupational illness, and vehicle and/or property damage costs (Department of Defense, 2000). All branches of the…
Abstract
DoD accidents are classified according to the severity of injury, occupational illness, and vehicle and/or property damage costs (Department of Defense, 2000). All branches of the military have similar accident classification schemes, with Class A being the most severe. Table 1 shows the accident classes for the Army. The Air Force and Navy definitions of Class A–C accidents are very similar to the Army's definition. However, they do not have a Class D. As the total costs of some Army UAVs are below the Class A criteria ($325,000 per Shadow aircraft; Schaefer, 2003), reviewers have begun to add Class D data into their analyses (Manning, Rash, LeDuc, Noback, & McKeon, 2004; Williams, 2004).
Ming Hou and Robert D. Kobierski
As a standard procedure of human factors engineering, the design of complex systems (e.g., operator interfaces) starts with analyses of system objectives, missions, functions, and…
Abstract
As a standard procedure of human factors engineering, the design of complex systems (e.g., operator interfaces) starts with analyses of system objectives, missions, functions, and tasks. Perceptual Control Theory (PCT) provides a theoretical framework for guiding this process. PCT is founded on notions from control theory, in which closed-loop, negative-gain, feedback systems can be used to build powerful models of goal-directed behavior and for implementing complex systems (Powers, 1973). One of the strengths of PCT over competing human behavior theories is that it explains how humans can control systems that are subject to a wide variety of external influences. UAV control is through the operators’ interaction with the interfaces in remote control stations. A closed-loop feedback system is crucial for both operators and control systems to understand the states and goals of each other. It is likely that advanced UAV control systems will require operators to interact with automated systems such as IAIs. IAIs are sophisticated and will require knowledge about mission goals, the operators’ goals, and states, as well as the UAV and environmental states. Thus, the methods of analysis used in this research were based on PCT given its engineering origins in control theory and advantages accommodating various external disturbances.
Brian P. Self, William R. Ercoline, Wesley A. Olson and Anthony P. Tvaryanas
SD is defined as a failure to sense correctly the attitude, motion, and/or position of the aircraft with respect to the surface of the earth (Benson, 2003). The types of SD are…
Abstract
SD is defined as a failure to sense correctly the attitude, motion, and/or position of the aircraft with respect to the surface of the earth (Benson, 2003). The types of SD are generally thought to be “unrecognized” and “recognized” (Previc & Ercoline, 2004). Although a third type has been reported (incapacitating), this type seems irrelevant to UAV operations. Unrecognized SD occurs when the person at the controls is unaware that a change in the motion/attitude of the aircraft has taken place. The cause is often the result of a combination of sub-threshold motion and inattention. This type of SD is known to be the single most serious human factors reason for aircraft accidents today, accounting for roughly 90% of all known SD-related mishaps (Davenport, 2000). Recognized SD occurs when a noticeable conflict is created between the actual motion/attitude of the aircraft and any one of the common physiological sensory mechanisms (e.g., visual, vestibular, auditory, and tactile). Recognized SD is the most common type of SD, accounting for the remaining SD-related accidents.