Flight Control System of Unmanned Aerial Vehicle

To date unmanned aerial system(UAS)technologies have attracted more and more attention from countries in the world.Unmanned aerial vehicles(UAVs)play an important role in reconnaissance,surveillance,and target tracking within military and civil fields.Here one briefly introduces the development of UAVs,and reviews its various subsystems including autopilot,ground station,mission planning and management subsystem,navigation system and so on.Furthermore,an overview is provided for advanced design methods of UAVs control system,including the linear feedback control,adaptive and nonlinear control,and intelligent control techniques.Finally,the future of UAVs flight control techniques is forecasted.

Flight Time Minimization of UAV for Cooperative Data Collection in Probabilistic LoS Channel

This paper investigates the data collection in an unmanned aerial vehicle(UAV)-aided Internet of Things(IoT) network, where a UAV is dispatched to collect data from ground sensors in a practical and accurate probabilistic line-of-sight(LoS) channel. Especially, access points(APs) are introduced to collect data from some sensors in the unlicensed band to improve data collection efficiency. We formulate a mixed-integer non-convex optimization problem to minimize the UAV flight time by jointly designing the UAV 3D trajectory and sensors’ scheduling, while ensuring the required amount of data can be collected under the limited UAV energy. To solve this nonconvex problem, we recast the objective problem into a tractable form. Then, the problem is further divided into several sub-problems to solve iteratively, and the successive convex approximation(SCA) scheme is applied to solve each non-convex subproblem. Finally,the bisection search is adopted to speed up the searching for the minimum UAV flight time. Simulation results verify that the UAV flight time can be shortened by the proposed method effectively.

Research on Water-Exit and Take-off Process for Morphing Unmanned Submersible Aerial Vehicle

This paper presents a theoretic implementation method of Morphing Unmanned Submersible Aerial Vehicle （MUSAV）, which can both submerge in the water and fly in the air. Two different shapes are put forward so that the vehicle can suit both submergence and flight, considering the tremendous differences between hydrodynamic configuration and aerodynamic configuration of a vehicle. The transition of the two shapes can be achieved by using morphing technology. The water-to-air process, including water-exit, morphing, take-off and steady flight, is analyzed. The hydrodynamic and aerodynamic model of the vehicle exiting the water surface obliquely and then taking off into the air has been founded. The control strategy after morphing is analyzed and the control method is given. Numerical method is used to validate the motion model of the water-exit process. Results of simulations show the validity of the proposed model and the feasibility of MUSAV in theory.

Circular Formation Flight Control for Unmanned Aerial Vehicles With Directed Network and External Disturbance

This paper proposes a new distributed formation flight protocol for unmanned aerial vehicles(UAVs)to perform coordinated circular tracking around a set of circles on a target sphere.Different from the previous results limited in bidirectional networks and disturbance-free motions,this paper handles the circular formation flight control problem with both directed network and spatiotemporal disturbance with the knowledge of its upper bound.Distinguishing from the design of a common Lyapunov fiunction for bidirectional cases,we separately design the control for the circular tracking subsystem and the formation keeping subsystem with the circular tracking error as input.Then the whole control system is regarded as a cascade connection of these two subsystems,which is proved to be stable by input-tostate stability(ISS)theory.For the purpose of encountering the external disturbance,the backstepping technology is introduced to design the control inputs of each UAV pointing to North and Down along the special sphere(say,the circular tracking control algorithm)with the help of the switching function.Meanwhile,the distributed linear consensus protocol integrated with anther switching anti-interference item is developed to construct the control input of each UAV pointing to east along the special sphere(say,the formation keeping control law)for formation keeping.The validity of the proposed control law is proved both in the rigorous theory and through numerical simulations.

Neural Network Based Feedback Linearization Control of an Unmanned Aerial Vehicle

This paper presents a flight control design for an unmanned aerial vehicle （UAV） using a nonlinear autoregressive moving average （NARMA-L2） neural network based feedback linearization and output redefinition technique. The UAV investigated is non- minimum phase. The output redefinition technique is used in such a way that the resulting system to be inverted is a minimum phase system. The NARMA-L2 neural network is trained off-line for forward dynamics of the UAV model with redefined output and is then inverted to force the real output to approximately track a command input. Simulation results show that the proposed approaches have good performance.

Unmanned Aerial Vehicles Flight Safety Improvement Using In-Flight Awareness

This paper presents a novel onboard system called In-Flight Awareness Augmentation System (IFA2S) to improve flight safety. IFA2S is designed to semi-automatically (with human supervision) avoid hazards and accidents due to either internal or external causal factors. The requirements were defined in an innovative way using Systems-Theoretic Process Analysis (STPA) method and applied next to model the system. IFA2S increases aircraft awareness regarding both itself and its environment and, at the same time, recognizes platform and operational constraints to act in accordance to predefined decision algorithms. Results are presented through simulations and flight tests using state machines designed to allow the adoption of appropriate actions for the identified hazards. The different decision algorithms are evaluated over as many as possible hazard situations by simulations conducted with software Labview and XPlane flight simulator. Flight tests are performed in a small fixed wing aircraft and make use of a limited version IFA2S, partially attending identified requirements. Results support the conclusion that IFA2S is capable of improving flight safety.

Development of an Autonomous Flight Control System for Small Size Unmanned Helicopter Based on Dynamical Model

It is devoted to the development of an autonomous flight control system for small size unmanned helicopter based on dynamical model. At first, the mathematical model of a small size helicopter is described. After that simple but effective MTCV control algorithm was proposed. The whole flight control algorithm is composed of two parts: orientation controller based on the model for rotation dynamics and a robust position controller for a double integrator. The MTCV block is also used to achieve translation velocity control. To demonstrate the performance of the presented algorithm, simulation results and results achieved in real flight experiments were presented.

Asynchronous H_∞ Control for Unmanned Aerial Vehicles: Switched Polytopic System Approach

This study is concerned with the H∞control for the full-envelope unmanned aerial vehicles (UAVs) in the presence of missing measurements and external disturbances. With the dramatic parameter variations in large flight envelope and the locally overlapped switching laws in flight, the system dynamics is modeled as a locally overlapped switched polytopic system to reduce designing conservatism and solving complexity. Then, considering updating lags of controller's switching signals and the weighted coefficients of the polytopic subsystems induced by missing measurements, an asynchronous H∞control method is proposed such that the system is stable and a desired disturbance attenuation level is satisfied. Furthermore, the sufficient existing conditions of the desired switched parameter-dependent H∞controller are derived in the form of linear matrix inequality (LMIs) by combining the switched parameter-dependent Lyapunov function method and average dwell time method. Finally, a numerical example based on a highly maneuverable technology (HiMAT) vehicle is given to verify the validity of the proposed method. © 2014 Chinese Association of Automation.

A survey of unmanned aerial vehicle flight data anomaly detection:Technologies,applications,and future directions

Flight data anomaly detection plays an imperative role in the safety and maintenance of unmanned aerial vehicles(UAVs).It has attracted extensive attention from researchers.However,the problems related to the difficulty in obtaining abnormal data,low model accuracy,and high calculation cost have led to severe challenges with respect to its practical applications.Hence,in this study,firstly,several UAV flight data simulation softwares are presented based on a brief presentation of the basic concepts of anomalies,the contents of UAV flight data,and the public datasets for flight data anomaly detection.Then,anomaly detection technologies for UAV flight data are comprehensively reviewed,including knowledge-based,model-based,and data-driven methods.Next,UAV flight data anomaly detection applications are briefly described and analyzed.Finally,the future trends and directions of UAV flight data anomaly detection are summarized and prospected,which aims to provide references for the following research.

Improved Shuffled Frog Leaping Algorithm Optimizing Integral Separated PID Control for Unmanned Hypersonic Vehicle

To solve the flight control problem for unmanned hypersonic vehicles,a novel intelligent optimized control method is proposed.A flight control system based on integral separated proportional-integral-derivative(PID)control is designed for hypersonic vehicle,and an improved shuffled frog leaping algorithm is presented to optimize the control parameters.A nonlinear model of hypersonic vehicle is established to examine the dynamic characteristics achieved by the flight control system.Simulation results demonstrate that the proposed optimized controller can effectively achieve better flight control performance than the traditional controller.

Research of UAV Flight Planning Parameters

UAV remote sensing as a digital aerial photography, not only has some basic photogrammetry features, but also has some other features. In this paper, aim at the characteristics of UAV remote sensing, begin with image data acquisition, the various parameter setting in the route planning were introduced, some of the principle was analyzed, the design of control points was described, and some of the considerations when laid control points were summarized.

Nonlinear direct data-driven control for UAV formation flight system

This paper proposes the nonlinear direct data-driven control from theoretical analysis and practical engineering,i.e.,unmanned aerial vehicle(UAV)formation flight system.Firstly,from the theoretical point of view,consider one nonlinear closedloop system with a nonlinear plant and nonlinear feed-forward controller simultaneously.To avoid the complex identification process for that nonlinear plant,a nonlinear direct data-driven control strategy is proposed to design that nonlinear feed-forward controller only through the input-output measured data sequence directly,whose detailed explicit forms are model inverse method and approximated analysis method.Secondly,from the practical point of view,after reviewing the UAV formation flight system,nonlinear direct data-driven control is applied in designing the formation controller,so that the followers can track the leader’s desired trajectory during one small time instant only through solving one data fitting problem.Since most natural phenomena have nonlinear properties,the direct method must be the better one.Corresponding system identification and control algorithms are required to be proposed for those nonlinear systems,and the direct nonlinear controller design is the purpose of this paper.

无人机作业参数对苹果树雾滴沉积分布的影响

为了研究植保无人飞机在苹果果树雾滴分布的情况,选用韦加JF01-20电动八旋翼四轴植保无人机作为测试平台,探讨飞行速度和喷雾助剂对于苹果果树雾滴分布的影响。试验设定了6组试验处理,以水敏纸为雾滴分布测试工具,分别布置在果树的上中下冠层,统计果树立体冠层的雾滴分布数据。研究结果表明:果树相同冠层水平面的雾滴分布差异性较大,雾滴分布的变异系数值范围在49.1%~227.6%之间变化;雾滴的分布数值结果在果树冠层从上至下逐步降低,雾滴分布的数值结果随着飞行速度的增加而降低,各雾滴测试指标的变化趋势相同;添加助剂后,各个试验处理以及冠层间的雾滴分布结果具有显著的提升。研究结果可为植保无人飞机应用于苹果果树的喷洒提供数据支持。

基于自抗扰方法的无人机控制律设计

针对多平台、多任务的无人机飞行控制律的快速开发问题,提出一种基于自抗扰方法的无人机控制律架构,设计了可复用的扩展状态观测器及微分跟踪器,研究对比了其在3种具有较大差异的无人机平台中的应用,使7 000 kg的超音速UAV_A获得了更优的敏捷性结果,在60 kg的缩比UAV_B完成了5.8g的半滚倒转大过载机动飞行试验,基于10 kg的平直翼UAV_C实现了12架机紧编队的精确轨迹控制飞行试验。仿真及试飞结果表明:所提自抗扰控制结构响应快速、控制精度高、鲁棒性强,能够较好地适应多类无人机、面向多种任务场景的控制需求,且不需调参就能够获得较好的控制效果,为飞行控制算法设计提供了新的技术途径。

城市无人机航线飞行间隔与调控频率综合研究

聚焦城市无人机航线飞行,为确保运行安全,需要为无人机配备合适的飞行间隔。面向同航线纵向飞行场景,研究了考虑冲突频率与碰撞概率且符合ICAO间隔制定原则的间隔调控模型。通过研究仅考虑无人机定位误差下的碰撞风险,得到无人机纵向飞行间隔,作为后续间隔计算的基准;通过综合考虑定位误差和速度误差引发的位置不确定性,计算伴随无人机航线飞行进程的碰撞风险。加大纵向间隔会延迟突破安全目标水平的时机,但随着飞行进程的推进,碰撞风险终将突破安全目标水平。基于此,提出了无人机位置调控机制,对2架无人机位置进行定期调控,以消除速度所产生的累积误差。针对某1个指定的安全目标水平,得到了纵向间隔与位置调控频率的关系曲线,发现二者存在博弈关系,实施高频调控,需要采取更小的航线间隔;反之,则需要加大航线间隔。同时,为兼顾城市空间与位置调控能力的双重约束,提出了选取曲率最大值位置的所需飞行间隔与调控频率作为折中方案,发现安全目标水平要求越严格,所需调控频率和飞行间隔越大。实验得到在满足安全目标水平为5×10^(-9)次/飞行小时情况下,所需调控频率为87次/h,所需纵向飞行间隔为90 m;同时在实际运行环境中,应用上述评估模型与方法可以客观选择所需间隔和调控频率。本文研究可以兼顾城市物流无人机空中运行的安全,提高城市空域利用率和派送效率。

基于EMSDBO算法的无人机三维航迹规划

针对无人机(unmanned aerial vehicle,UAV)三维航迹规划问题,提出一种增强型多策略蜣螂算法的UAV航迹规划方法。首先,将飞行接近率和响应时间的动态约束添加到威胁成本代价中,并考虑UAV转弯性能的影响,建立三维任务空间模型与航迹代价函数。其次,在蜣螂算法中引入偏移估计策略、变螺旋搜索策略、准反向学习策略和逐维变异策略,提高算法的全局寻优能力和收敛速度。最后,给出了改进算法在三维环境下航迹规划的仿真结果。结果表明:综合考虑UAV机动性能和转弯性能,规划出的路径可以更加安全有效地避开危险源。相比其他算法,改进算法的寻优能力更好,规划的航迹质量更优。

Trophallaxis network control approach to formation flight of multiple unmanned aerial vehicles

A novel network control method based on trophaUaxis mechanism is applied to the formation flight problem for multiple un- manned aerial vehicles （UAVs）. Firstly, the multiple UAVs formation flight system based on trophallaxis network control is given. Then, the model of leader-follower formation flight with a virtual leader based on trophallaxis network control is pre- sented, and the influence of time delays on the network performance is analyzed. A particle swarm optimization （PSO）-based formation controller is proposed for solving the leader-follower formation flight system. The proposed method is applied to five UAVs for achieving a ＇V＇ formation, and a series of experimental results show its feasibility and validity. The proposed control algorithm is also a promising control strategy for formation flight of multiple unmanned underwater vehicles （UUVs）, unmanned ground vehicles （UGVs）, missiles and satellites.

基于一致性理论的无人机编队控制与集结方法

针对无人机运动学模型特点和远距离成形问题,提出一种基于改进一致性算法的无人机集结-成形策略。建立能直观描述编队队形的坐标系,根据纵向和横航向解耦的带自动驾驶仪的无人机三自由度运动学模型的特点,考虑无人机机动性能约束,对一致性算法进行改进,实现对无人机速度、航向和飞行高度的控制,提出编队队形控制算法。针对无人机初始间距大带来的调参问题,增加集结过程,并利用粒子群算法优化集结速度,避免航迹冲突,集结结束后再采用所提算法生成无人机航迹,提升算法的适应性。仿真结果表明:所提算法能使无人机在满足机动性约束的情况下,形成稳定队形;相比于直接成形法,所提策略提高改进一致性算法的适应性和安全性。

基于航空摄影测量的填埋堆体动态重构精度及影响因素

填埋堆体表面形变监测是填埋场库容管理和堆体失稳等风险分析的核心,其时空高分辨率监测研究近年来引起广泛关注。基于航空摄影的地表测量技术具有采集速度快、时空分辨率高等优点,但在填埋场特殊环境下,面对高频填埋活动、显著的堆体变化以及防雨膜覆盖等干扰时,要同时满足高时空分辨率和耗时短的动态监测要求,无人机的最佳飞行参数设定亟待研究。为此,该研究模拟中等规模危险废物填埋场的规模和日填埋量,利用专业级无人机获取模拟区域图像,空三加密处理生成三维点云数据,利用Arcmap叠加分析多期监测数据,从点位坐标、重构尺度、重构体积、体积差分精度4个角度分析重构误差。结果表明:三维重构的坐标精度可以达到米级;重构尺度误差为2~3 cm,重构体积误差为0.16~0.17 m^(3),差分体积误差为0.16~0.17 m^(3);进一步研究发现,高度为25~55 m时,高度越高精度越低,相机倾角为[-53°,-60°]时,精度最高,旁向重叠率大于80%时,误差骤减且基本稳定。考虑到填埋场的填埋作业间隔、无人机续航能力等对飞行时间的约束,为获得最佳精度,建议无人机飞行高度为37 m、相机倾斜角度为[-53°,-60°]、旁向重叠率为80%。

倾转动力无人机三维过渡走廊

为解决传统过渡走廊中忽略系统动态特征、缺少迎角信息、难以直接用于过渡路径规划的问题,提出一种适用于倾转动力类无人机的三维过渡走廊建立方法。所提方法从物理约束角度限制飞行速度与倾转角度边界,从飞行力学角度限制全机升力特性边界,从能源配置角度限制动力系统功率边界,从而建立关于飞行速度、倾转角度与迎角的三维过渡走廊,并且设计综合性能指标函数用于描述走廊内各飞行路径点的性能。基于所建三维过渡走廊采用鸽群优化算法完成最优过渡路径的搜索工作。结果表明:所建三维过渡走廊能够更加具体地描述可用飞行范围,其不仅包括传统过渡走廊的飞行速度与倾转角度,同时还包含迎角与性能指标信息,这为过渡路径规划提供基础;鸽群优化算法具有良好的过渡路径优化能力,通过优化使无人机拥有良好的飞行效果,动力系统油门杆量变化平稳、幅值较小,证明使用三维过渡走廊指导过渡飞行与规划过渡路径的可行性。