Flight Control of a Trirotor Mini-UAV for Enhanced Situational Awareness
Creators
Description
This paper focuses on a critical component of the situational awareness (SA), the control of autonomous vertical flight for an unmanned aerial vehicle (UAV). Autonomous vertical flight is a challenging but important task for tactical UAVs to achieve high level of autonomy under adverse conditions. With the SA strategy, we proposed a two stage flight control procedure using two autonomous control subsystems to address the dynamics variation and performance requirement difference in initial and final stages of flight trajectory for a nontrivial nonlinear trirotor mini-UAV model. This control strategy for chosen mini-UAV model has been verified by simulation of hovering maneuvers using software package Simulink and demonstrated good performance for fast SA in realtime search-and-rescue operations.
Files
5209.pdf
Files
(192.1 kB)
| Name | Size | Download all |
|---|---|---|
|
md5:3adc3ff316496ab0f17dfd7a65db419a
|
192.1 kB | Preview Download |
Additional details
References
- M. R. Endsley, "Toward a theory of situation awareness in dynamic systems," Human Factors, vol. 37, pp. 32-64, March 1995.
- J. Gorman, N. Cooke, and J. Winner, "Measuring team situation awareness in decentralized command and control environments," Ergonomics, vol. 49, pp. 1312-1325, October 2006.
- Interim Brigade Combat Team Newsletter. (Online). Available: http://www.globalsecurity.org/military/library/ report/call/call_01-18_ toc.htm
- S.D. Prior, S.-T. Shen, A.S. White, S. Odedra, M. Karamanoglu, M.A. Erbil, and T. Foran, "Development of a novel platform for greater situational awareness in the urban military terrain," in Proc. 8th International Conf. Engineering Psychology and Cognitive Ergonomics, San Diego, USA, 2009, pp. 120-125.
- I. Astrov and A. Pedai, "Control of hovering manoeuvres in unmanned helicopter for enhanced situational awareness," in Proc. International Conf. Industrial Mechatronics and Automation, Chengdu, China, 2009, pp. 143-146.
- S. Salazar-Cruz, F.Kendoul, R. Lozano, and I. Fantoni, "Real-time control of a small-scale helicopter having three rotors," in Proc. 2006 IEEE/RSJ International Conf. Intelligent Robots and Systems, Beijing, China, 2006, pp. 2924-2929.
- S. Salazar-Cruz, F.Kendoul, R. Lozano, and I. Fantoni, "Real-time stabilization of a small three-rotor aircraft," IEEE Trans. Aerospace and Electronic Systems, vol. 44, pp. 783-794, April 2008.
- D. Krutko, Inverse Problems of Control System Dynamics: Nonlinear Models. Moscow: Nauka, 1989.
- L.S. Pontryagin, Ordinary Differential Equations. Moscow: Nauka, 1974.