In this paper a Hardware-In-the-Loop (HIL) test platform is used to design a flight stabilization system for Unmanned Aerial Vehicles (UAV). Controllers are first designed and tested separately for lateral and longitudinal axes using... more
In this paper a Hardware-In-the-Loop (HIL) test platform is used to design a flight stabilization system for Unmanned Aerial Vehicles (UAV). Controllers are first designed and tested separately for lateral and longitudinal axes using numerical simulations, and later these controllers are merged on the HIL platform. It is observed that the resulting controller successfully stabilizes the aircraft to achieve straight and level flight.
In the Unmanned Aerial Vehicles (UAVs) one of the simplest navigational requirements is the capability of path following. Researchers have developed several algorithms over the years for path following. Some of these algorithms are carrot... more
In the Unmanned Aerial Vehicles (UAVs) one of the simplest navigational requirements is the capability of path following. Researchers have developed several algorithms over the years for path following. Some of these algorithms are carrot chasing algorithm, line-of-sight based path following (PLOS) and non-linear guidance law (NLGL). But there is not sufficient information available in existing literatures in comparative performance analysis of these algorithms. This project report has discussed the need of flight planning as well as existing literatures on flight control. One of the widely used control methodologies for UAV is pure pursuit control which is discussed mathematically in this report. Equations of motion of UAV assuming it as a point mass are also presented in this report. After that specific missions of straight line path following and circular orbit or loiter path following are selected for analysis. All the three path following algorithms are simulated for these missions. Then based on cross-track deviation and total control effort most suitable path following algorithm is selected. Apart from path following this report has also demonstrated effectiveness of A-star algorithm in deriving an optimum path in between origin and destination while avoiding randomly generated obstacles.
Autopilot systems for UAVs without human pilots maintain the flight through an appropriate balance of aerodynamic forces autonomously. That is to say, they are used to make flight missions more reliable and efficient. Autopilot system... more
Autopilot systems for UAVs without human pilots maintain the flight through an appropriate balance of aerodynamic forces autonomously. That is to say, they are used to make flight missions more reliable and efficient. Autopilot system design architecture conventionally contains two sections, inner and outer loops. Inner loop is the stabilizer and the outer loop can provide one of the additional motion controls (or all) such as speed, altitude, and heading hold. In this paper, Loop-shaping method is used to provide the stabilizer mode and the PID controller is used to control the altitude.
In this paper a loop-shaping design approach is investigated for distressed fixed-wing aircraft experiencing control loss due to surface or power failure. An accurate nonlinear model of the aircraft dynamics is utilized to obtain a target... more
In this paper a loop-shaping design approach is investigated for distressed fixed-wing aircraft experiencing control loss due to surface or power failure. An accurate nonlinear model of the aircraft dynamics is utilized to obtain a target aircraft behavior in the emergency situation, for which a loop-shaping controller is designed to balance performance and robustness, and to decouple different command channels. A rudder servoactuator jam scenario is presented as an example where it is seen that the autopilot recovers level flight and responds well to fly-by-wire commands from the operator.
Autopilot systems for unmanned aerial vehicles (UAVs) and aircrafts provide flight missions without need of human input and make them more reliable and efficient. The first step of designing an autopilot is a stabilizer mode. Conventional... more
Autopilot systems for unmanned aerial vehicles (UAVs) and aircrafts provide flight missions without need of human input and make them more reliable and efficient. The first step of designing an autopilot is a stabilizer mode. Conventional autopilot systems have inner and outer loops. Stabilizer is the inner loop for an autopilot. In this paper designing an aircraft control system ensures good performance and robustness that allows control of roll, pitch and yaw angles will be declared. Aircraft dynamics are used to design the model of the control system in the MATLAB Simulink environment. Using loop shaping method to achieve stable and robust control system will be the strategy. Generated controllers to find the most effective one are embedded in the X-plane which is one of the realistic simulations.
In this paper a Hardware-In-the-Loop (HIL) test platform is used to design a flight stabilization system for Unmanned Aerial Vehicles (UAV). Controllers are first designed and tested separately for lateral and longitudinal axes using... more
In this paper a Hardware-In-the-Loop (HIL) test platform is used to design a flight stabilization system for Unmanned Aerial Vehicles (UAV). Controllers are first designed and tested separately for lateral and longitudinal axes using numerical simulations, and later these controllers are merged on the HIL platform. It is observed that the resulting controller successfully stabilizes the aircraft to achieve straight and level flight.
From the dawn of advanced aerospace technology, the aspect of stability and automated control is an important field of research interest providing ease of handling and friendly assistance for piloting. Considering this challenging aspect,... more
From the dawn of advanced aerospace technology, the aspect of stability and automated control is an important field of research interest providing ease of handling and friendly assistance for piloting. Considering this challenging aspect, development of automated control system is chosen for this research. The aim of this paper is to design a longitudinal autopilot for a general aviation aircraft and to analysis the performance of the developed model both for normal condition and atmospheric disturbance. To improve the overall performance, stability of the system and to overcome the atmospheric disturbance a compensator along with a PID controller has been designed. Simulation results of MATLAB Simulink have been also analyzed.
This paper focuses on the design, modeling, implementation and testing of an autonomous unmanned aerial vehicle. The controller is based on an Ardupilot board which is a custom PCB with an embedded processor (ATMega168) combined with... more
This paper focuses on the design, modeling, implementation and testing of an autonomous unmanned aerial vehicle. The controller is based on an Ardupilot board which is a custom PCB with an embedded processor (ATMega168) combined with circuitry to switch control between the RC control and the autopilot control (that’s the multiplexer /failsafe,also known as MUX).This control navigation (following GPS waypoints) and altitude by controlling the rudder and throttle. The system uses flight stabilization system (co-pilot),a sensor pack,Global Positioning System(GPS) and an RF transceiver to monitor and report crucial parameters such as altitude, speed,pitch, roll, and position. An embedded software algorithm has been developed to enable the aerial vehicle accomplish the required autonomy and maintain satisfactory flight operation. The autopilot features an advanced, highly autonomous flight control system with an auto-launch and auto landing algorithms.
In this paper a Hardware-In-the-Loop (HIL) test platform is used to design a flight stabilization system for Unmanned Aerial Vehicles (UAV). Controllers are first designed and tested separately for lateral and longitudinal axes using... more
In this paper a Hardware-In-the-Loop (HIL) test platform is used to design a flight stabilization system for Unmanned Aerial Vehicles (UAV). Controllers are first designed and tested separately for lateral and longitudinal axes using numerical simulations, and later these controllers are merged on the HIL platform. It is observed that the resulting controller successfully stabilizes the aircraft to achieve straight and level flight.
In this paper a Hardware-In-the-Loop (HIL) test platform is used to design a flight stabilization system for Unmanned Aerial Vehicles (UAV). Controllers are first designed and tested separately for lateral and longitudinal axes using... more
In this paper a Hardware-In-the-Loop (HIL) test platform is used to design a flight stabilization system for Unmanned Aerial Vehicles (UAV). Controllers are first designed and tested separately for lateral and longitudinal axes using numerical simulations, and later these controllers are merged on the HIL platform. It is observed that the resulting controller successfully stabilizes the aircraft to achieve straight and level flight.
A sliding-mode controller is derived for an integrated missile autopilot and guidance loop. Motivated by a differential game formulation of the guidance problem, a single sliding surface, defined using the zero-effort miss distance, is... more
A sliding-mode controller is derived for an integrated missile autopilot and guidance loop. Motivated by a differential game formulation of the guidance problem, a single sliding surface, defined using the zero-effort miss distance, is used. The performance of the integrated controller is ...
ABSTRAK Pengembangan Unmanned Aerial Vehicle (UAV) merupakan salah satu fokus penelitian Lembaga Penerbangan dan Antariksa Negara (LAPAN) khususnya Pusat Teknologi Penerbangan (Pustekbang). LSU-02 adalah salah satu hasil UAV yang berhasil... more
ABSTRAK Pengembangan Unmanned Aerial Vehicle (UAV) merupakan salah satu fokus penelitian Lembaga Penerbangan dan Antariksa Negara (LAPAN) khususnya Pusat Teknologi Penerbangan (Pustekbang). LSU-02 adalah salah satu hasil UAV yang berhasil dikembangkan oleh LAPAN. Take off dan landing merupakan salah satu tolak ukur performance dari sebuah UAV. LSU-02 kedepannya akan dikembangkan sistem take off dan landing secara otomatis. Oleh sebab itu perlu dilakukan pengujian sistem sebelum dapat direalisasikan pada pesawat. Pengujian dilakukan menggunakan metode HILS (Hardware In The Loop Simulation) dengan Flight Control APM 2.6, software X-Plane 10 sebagai simulator dan Mission Planner sebagai GCS (Ground Control System). Dari pengujian didapat nilai parameter take off dengan sudut pitch sebesar 15°, dibutuhkan waktu take off 17.7 detik dan jarak 19 m. Sedangkan nilai parameter landing didapatkan dengan sudut flare 12° dan ketinggian landing 20 m, waktu dan jarak yang dibutuhkan adalah 32.43 detik dan 197.6 m.
In this paper, approximate dynamic programming (ADP) based design tools are developed for adaptive control of aircraft control under nominal and damaged conditions. Nominal control of the system is computed with a single network adaptive... more
In this paper, approximate dynamic programming (ADP) based design tools are developed for adaptive control of aircraft control under nominal and damaged conditions. Nominal control of the system is computed with a single network adaptive critic (SNAC) derived through principles of ADP. Convergence of SNAC training is shown by reducing it to solving a set of nonlinear algebraic equations in
In this paper, approximate dynamic programming (ADP) based design tools are developed for adaptive control of aircraft control under nominal and damaged conditions. Nominal control of the system is computed with a single network adaptive... more
In this paper, approximate dynamic programming (ADP) based design tools are developed for adaptive control of aircraft control under nominal and damaged conditions. Nominal control of the system is computed with a single network adaptive critic (SNAC) derived through principles of ADP. Convergence of SNAC training is shown by reducing it to solving a set of nonlinear algebraic equations in
Abstract In this paper a loop-shaping design approach is investigated for distressed fixed-wing aircraft experiencing control loss due to surface or power failure. An accurate nonlinear model of the aircraft dynamics is utilized to obtain... more
Abstract In this paper a loop-shaping design approach is investigated for distressed fixed-wing aircraft experiencing control loss due to surface or power failure. An accurate nonlinear model of the aircraft dynamics is utilized to obtain a target aircraft behavior in the emergency situation, for which a loop-shaping controller is designed to balance performance and robustness, and to decouple different command channels. A rudder servoactuator jam scenario is presented as an example where it is seen that the autopilot recovers level flight and responds well to fly-by-wire commands from the operator.
In this paper a loop-shaping design approach is investigated for distressed fixed-wing aircraft experiencing control loss due to surface or power failure. An accurate nonlinear model of the aircraft dynamics is utilized to obtain a target... more
In this paper a loop-shaping design approach is investigated for distressed fixed-wing aircraft experiencing control loss due to surface or power failure. An accurate nonlinear model of the aircraft dynamics is utilized to obtain a target aircraft behavior in the emergency situation, for which a loop-shaping controller is designed to balance performance and robustness, and to decouple different command channels. A rudder servoactuator jam scenario is presented as an example where it is seen that the autopilot recovers level flight and responds well to fly-by-wire commands from the operator.
