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Extended State Observer-based Robust Pitch Autopilot Design for Small UAV |
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Seungyun Jung, Youdan Kim(Seoul National University, Korea) |
| Extended state observer-based controller is designed for a small fixed-wing UAV pitch autopilot. The designed autopilot has robust characteristics with respect to external disturbance and model uncertainty. The objective of the longitudinal autopilot is to control the speed and altitude of an UAV. Feedback linearization is employed to use extended state observer which can be applied only to integral-chain system, and the performance of the designed observer is improved by using available model information. |
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PID with derivative filter and integral sliding-mode controller techniques applied to an indoor micro quadrotor |
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Kranthi Kumar Deveerasetty, Yimin Zhou(Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, China) |
| The paper proposes two different controllers for tracking control of a quadrotor. An Euler-Lagrange formulation is used to drive the dynamic mathematical model of a quadrotor. A PID controller with derivative filter is proposed for the position tracking of the quadrotor here. The integral sliding-mode controller is proposed to obtain the desired attitude angles for the quadrotor tracking and its advantage is unaffected by the system model errors. The validation of results has been tested in MATLAB simulation and exhibits adequate performance. |
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Vision Based Tracking for Moving Target in Cluttered Environment with Path Generation for Visibility under Arbitrary Occlusion |
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Boseong Jeon(Seould National University, Korea), H. Jin Kim(Seoul National University, Korea) |
| In a cluttered environment, MAV has a risk of losing a moving target from its sight due to the presence of obstacles. Thus, it is necessary to generate a tracking path which maintains the visibility of the target as best as possible. Although there were some studies to tackle the issue, few have addressed the occlusion of arbitrary geometry which cannot be approximated with a simple mathematical expression such as an ellipsoid or an inclusive box. To deal with more general tracking problems including complex and unstructured obstacles, this paper proposes a definition of visibility. |
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Implementation of the hybrid technology for quadcopter motion control in a complex non-deterministic environment |
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Igor Olegovich Shapovalov, Dmitriy Vladimirovich Devitt, Roman Olegovich Morozov, Mikhail Yurjevich Medvedev, Georgiy Igorevich Konovalov(Southern Federal University, Russian Federation) |
| This paper represents the results of development and research of the autonomous control system for the UAV. We propose hybrid intelligent technology based on unstable modes and the conception of a virtual goal. The main feature of our approach is the efficient integration of global and local path planning providing smooth and quick correction of trajectories for the avoidance of obstacles detected by the quadrotor vision system. Moreover, our local planning approach gives the tool for passing areas with complex obstacles where other local path planning algorithms fail. |
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Communication Relay Applications of a Solar-powered UAV Following a Collision-free Optimal Flight Path |
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Giancarlo Eder Guerra Padilla, Seong-Hwan Kim, Kee-Ho Yu(Chonbuk National University, Korea) |
| In the occurrence of natural disasters or any other event that causes damage to the communication system’s infrastructure of a city, logistics and rescue works tend to lack in countermeasures to assure a stable communication when needed. This study is aimed to developing a collision-free optimal flight path of a solar-powered UAV, exploiting its capability for long endurance flights, using it as a Low Altitude Platform (LAP) for communication relay. The simulation results show a collision-free flight path considering antenna specifications for communication relay and its feasibility. |
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