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Set membership estimation applied to the localization of small UAS in tight flight formations |
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Soheib Fergani(LAAS-CNRS, France), Jan Bolting(ISAE-SUPAERO, France) |
| This paper proposes a set membership approach
for UAS (unmanned aerial system)localization in a tight flight
formation. A novel set membership estimation strategy based on
the typical hardware available for localization (due to the cost
constraints put on small UAS for civil applications) is developed.
The main idea is as follows: using time-differenced differential
GNSS carrier phase observations, the relative position between
UAS can be tracked with centimeter-level precision, but affected
by an unknown constant meter-level bias due to the initial
coarse position standalone position estimate |
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Tracking Control of a Multirotor UAV in a Network Environment with Time-Varying Delay |
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Dohyun Jang(Seoul National University, Korea), Jaehyun Yoo(Hankyong National University, Korea), H. Jin Kim(Seoul National Univ, Korea) |
| This paper presents a practical method to estimate and control the position of an UAV considering a network environment with time-varying delay. Many researches assume either that the network condition is perfect, or that the adverse effects of the network delay are negligible. However, the network delay entails undesirable effects to the stability of the UAV system due to mismatch of trajectory and incorrect state observation. To deal with these problems, we design our own delay compensator to efficiently estimate the position of the UAV, and to establish an appropriate reference trajectory. |
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A Coordinated Control Method of Thrust Vector and Aerodynamic Surfaces Based on Control Allocation Technology |
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Shi Jingping, Lv Yongxi, Qu Xiaobo, Shi Jing(Northwestern Polytechnical University, China) |
| Thrust vector technology can greatly increase the range of controlled angle of attack and make the fighter easily realize the post stall maneuver. However currently thrust vector technology is achieved by manually manipulating the additional vector stick, which greatly increases the burden on pilots. In this paper, a dynamic inverse design method based on daisy chain allocation method is proposed, which integrates the thrust vector into the automatic control system, thus eliminating the thrust vector manipulating mechanism and reducing the pilot's operating burden. |
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An Improved Method of Control Law Design at High Angle of Attack Based on Wind Tunnel Test Data |
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Yongxi Lyu, Yuyan Cao, Weiguo Zhang, Jingping Shi, Xiaobo Qu(Northwestern Polytechnical University, China) |
| This paper presents an improved dynamic inversion (DI) based method, which is further successfully applied to the high angle of attack flight control of the aircraft under the influence of unsteady aerodynamics. The accurate unsteady aerodynamic model is established by the sequential minimal optimization - support vector regression (SMO-SVR) method. The improved DI method is proposed, and the daisy chain allocation method is utilized to obtain the deflections of the control surfaces and the engine vector nozzle. Numerical simulation shows the advantages and the potential practical application. |
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Reconfigurable Flight Control System design for Blended Wing Body UAV based on Control Allocation |
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Xiaobo Qu, Jingping Shi(Northwestern Polytechnical University, China), Haijun Zhou, Ling Zuo(Filght Automatic Control Research Institute, China), Yongxi Lyu(Northwestern Polytechnical University, China) |
| The AMS and allocation efficiency with typical control allocation algorithms are evaluated. A modular scheme reconfigurable FCS of a miniature tailless BWB UAV is studied by utilizing weighted pseudo-inverse, direct control, and fixed-point control allocation methods. The performance of the reconfigurable FCS is tested and verified with the simulation including typical failure modes such as deflector floating, loss-of-effectiveness and lock-in-place. Results validate that the reconfigurable FCS has preferable ability to handle deflector failures, improve the safety and reliability of aircraft. |
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PLC-based Mobile Mecanum Robot As Multipurpose Vehicle |
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Napasool Wongvanich, Suphan Gulpanich, Taweepol Suesat, Viriya Kongratana(King Mongkut's Institute of Technology Ladkrabang, Thailand) |
| This paper presents the mobile robot that is able to mobilize in every direction through the use of four DC motors-powered
mecanum wheels. The robot is controlled through
the use of the Programmable Logic Controller CP1H-XA40DT-D, that takes the user intended direction from a joystick
command and converts this command into movement vectors in conjunction to the mathematical kinematics model of the
mecanum wheels. The motors themselves are controlled from the PWM signals. Results validate the proposed applicability of the prototype as a wheelchair as well as a self-controlled shopping cart. |
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