Pub Date : 2019-06-01DOI: 10.1109/ICUAS.2019.8798173
Eleonora Bassi
The drone legal framework represents a multilevel and complex field of EU law. The new 2018 Regulation sets up a centralized system, in which the main ruling powers are devolved to the European Commission and EASA. Still, the provisions of the EU regulation have to be complemented with further legal fields, which regard public security legislations, telecommunication law, rules on product liability, criminal and insurance law, up to privacy and data protection, and their harmonization. Whilst the European Commission shall complement the provisions of the regulation with a set of implementing and delegated acts, the paper suggests that a number of key issues are fated to remain open. They regard different kinds of concerns related to the collection and use of drone data, much as problems related to privacy safeguards, telecommunications and cyber-security breaches, registration and identification of both UAVs, and their pilots and operators, down to matters of liability and the enforcement of the new provisions. Article 140 of the Regulation has established the time within which the whole legal framework for the use of drones within the Single European Sky strategy shall be at full speed: 12 September 2023. This means, depending on the viewpoints, too much or too few time. In any event, a lot of work is waiting for us.
{"title":"European Drones Regulation: Today’s Legal Challenges","authors":"Eleonora Bassi","doi":"10.1109/ICUAS.2019.8798173","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8798173","url":null,"abstract":"The drone legal framework represents a multilevel and complex field of EU law. The new 2018 Regulation sets up a centralized system, in which the main ruling powers are devolved to the European Commission and EASA. Still, the provisions of the EU regulation have to be complemented with further legal fields, which regard public security legislations, telecommunication law, rules on product liability, criminal and insurance law, up to privacy and data protection, and their harmonization. Whilst the European Commission shall complement the provisions of the regulation with a set of implementing and delegated acts, the paper suggests that a number of key issues are fated to remain open. They regard different kinds of concerns related to the collection and use of drone data, much as problems related to privacy safeguards, telecommunications and cyber-security breaches, registration and identification of both UAVs, and their pilots and operators, down to matters of liability and the enforcement of the new provisions. Article 140 of the Regulation has established the time within which the whole legal framework for the use of drones within the Single European Sky strategy shall be at full speed: 12 September 2023. This means, depending on the viewpoints, too much or too few time. In any event, a lot of work is waiting for us.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115129698","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-06-01DOI: 10.1109/ICUAS.2019.8797831
Savvas Papaioannou, P. Kolios, T. Theocharides, C. Panayiotou, M. Polycarpou
In this paper we are interested in the task of searching and tracking multiple moving targets in a bounded surveillance area with a group of autonomous mobile agents. More specifically, we assume that targets can appear and disappear at random times inside the surveillance region and their positions are random and unknown. The agents have a limited sensing range, and due to sensor imperfections they receive noisy measurements from the targets. In this work we utilize the theory of random finite sets (RFS) to capture the uncertainty in the time-varying number of targets and their states and we propose a decision and control framework, in which the mode of operation (i.e. search or track) as well as the mobility control action for each agent, at each time instance, are determined so that the collective goal of searching and tracking is achieved. Extensive simulation results demonstrate the effectiveness and performance of the proposed solution.
{"title":"Probabilistic Search and Track with Multiple Mobile Agents","authors":"Savvas Papaioannou, P. Kolios, T. Theocharides, C. Panayiotou, M. Polycarpou","doi":"10.1109/ICUAS.2019.8797831","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8797831","url":null,"abstract":"In this paper we are interested in the task of searching and tracking multiple moving targets in a bounded surveillance area with a group of autonomous mobile agents. More specifically, we assume that targets can appear and disappear at random times inside the surveillance region and their positions are random and unknown. The agents have a limited sensing range, and due to sensor imperfections they receive noisy measurements from the targets. In this work we utilize the theory of random finite sets (RFS) to capture the uncertainty in the time-varying number of targets and their states and we propose a decision and control framework, in which the mode of operation (i.e. search or track) as well as the mobility control action for each agent, at each time instance, are determined so that the collective goal of searching and tracking is achieved. Extensive simulation results demonstrate the effectiveness and performance of the proposed solution.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132087643","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-06-01DOI: 10.1109/ICUAS.2019.8798328
Ziquan Yu, You-min Zhang, Y. Qu, C. Su, Yintao Zhang, Zhewen Xing
This paper is concerned with the fault-tolerant cooperative control (FTCC) problem of multiple unmanned aerial vehicles (multi-UAVs) in the communication network. By exploiting neural network (NN) to approximate the nonlinear terms existing in the highly nonlinear multi-UAVs system, a distributed neural adaptive control scheme is proposed when only a subset of follower UAVs has access to the leader UAV’s states. To solve the problem of “explosion of complexity” in traditional backstepping architecture and reduce the number of online updating parameters of NN, dynamic surface control (DSC) and minimal learning parameter techniques are employed to reduce the computational complexity. Furthermore, by combining graph theory and Lyapunov approach, it is proved that velocities and altitudes of all follower UAVs can track the velocity and altitude of the leader UAV. Finally, simulation results are presented to verify the effectiveness of the proposed control scheme.
{"title":"Fault-Tolerant Adaptive Neural Control of Multi-UAVs Against Actuator Faults","authors":"Ziquan Yu, You-min Zhang, Y. Qu, C. Su, Yintao Zhang, Zhewen Xing","doi":"10.1109/ICUAS.2019.8798328","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8798328","url":null,"abstract":"This paper is concerned with the fault-tolerant cooperative control (FTCC) problem of multiple unmanned aerial vehicles (multi-UAVs) in the communication network. By exploiting neural network (NN) to approximate the nonlinear terms existing in the highly nonlinear multi-UAVs system, a distributed neural adaptive control scheme is proposed when only a subset of follower UAVs has access to the leader UAV’s states. To solve the problem of “explosion of complexity” in traditional backstepping architecture and reduce the number of online updating parameters of NN, dynamic surface control (DSC) and minimal learning parameter techniques are employed to reduce the computational complexity. Furthermore, by combining graph theory and Lyapunov approach, it is proved that velocities and altitudes of all follower UAVs can track the velocity and altitude of the leader UAV. Finally, simulation results are presented to verify the effectiveness of the proposed control scheme.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132111784","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-06-01DOI: 10.1109/ICUAS.2019.8798304
Masatoshi Hamnanaka
This paper describes a design method for drone highway networks to eliminate the risk of conflict between drones and to improve the overall flight efficiency. Many flight path designing methods have been proposed; however, none of them addresses the issue of flight efficiency. We optimize each path using ant colony optimization and optimize the position of the terminal connecting the paths using particle swarm optimization. Experimental results show that the proposed method improves flight efficiency by 15.6% on average.
{"title":"Optimum Design for Drone Highway Network","authors":"Masatoshi Hamnanaka","doi":"10.1109/ICUAS.2019.8798304","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8798304","url":null,"abstract":"This paper describes a design method for drone highway networks to eliminate the risk of conflict between drones and to improve the overall flight efficiency. Many flight path designing methods have been proposed; however, none of them addresses the issue of flight efficiency. We optimize each path using ant colony optimization and optimize the position of the terminal connecting the paths using particle swarm optimization. Experimental results show that the proposed method improves flight efficiency by 15.6% on average.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132378980","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-06-01DOI: 10.1109/ICUAS.2019.8798282
C. Rosales, J. Gimenez, F. Rossomando, C. Soria, M. Sarcinelli-Filho, R. Carelli
This paper proposes a neuro-adaptive controller evolving in a sub-actuated formation. A formation controller based on the null space approach is defined to obtain the references for local controllers for each one of the quadrotors defined to the transportation task. Formation controller takes into account the transport of a cable-suspended load with two quadrotors considering collision avoidance, wind perturbations, and proper distribution of the load weight. A neuro-adaptive sliding mode control (SMC) controller is defined with the objective to achieve the references obtained by the formation controller. These adjustment laws were obtained through the Lyapunov stability criterion. Finally, numerical simulation shows the excellent performance of the proposed technique for trajectory tracking tasks in unknown navigation environment.
{"title":"UAVs Formation Control With Dynamic Compensation Using Neuro Adaptive SMC","authors":"C. Rosales, J. Gimenez, F. Rossomando, C. Soria, M. Sarcinelli-Filho, R. Carelli","doi":"10.1109/ICUAS.2019.8798282","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8798282","url":null,"abstract":"This paper proposes a neuro-adaptive controller evolving in a sub-actuated formation. A formation controller based on the null space approach is defined to obtain the references for local controllers for each one of the quadrotors defined to the transportation task. Formation controller takes into account the transport of a cable-suspended load with two quadrotors considering collision avoidance, wind perturbations, and proper distribution of the load weight. A neuro-adaptive sliding mode control (SMC) controller is defined with the objective to achieve the references obtained by the formation controller. These adjustment laws were obtained through the Lyapunov stability criterion. Finally, numerical simulation shows the excellent performance of the proposed technique for trajectory tracking tasks in unknown navigation environment.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133103700","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-06-01DOI: 10.1109/ICUAS.2019.8798137
P. Hamelin, F. Mirallès, G. Lambert, S. Lavoie, N. Pouliot, Matthieu Montfrond, Serge Montambault
This paper presents the design of a discrete-time control algorithm for power line tracking and assisted landing of Hydro-Quebec’s LineDrone robot, a multirotor unmanned aerial vehicle (UAV) designed to land on and roll along live power lines. The algorithm automatically aligns the UAV with the cable while the pilot remains in control of the vertical and longitudinal positions, hence facilitating landing by having fewer degrees of freedom on which the pilot must focus. Emphasis is placed on the design of the discrete-time control law, which results in a closed-form algebraic solution of gains for given transient specifications. The proposed control system is also designed to meet the requirements of operation near live lines, which means that the system is immune to electromagnetic interference. The proposed control algorithm is experimentally validated on LineDrone hybrid UAV under real outdoor conditions.
{"title":"Discrete-time control of LineDrone: An assisted tracking and landing UAV for live power line inspection and maintenance","authors":"P. Hamelin, F. Mirallès, G. Lambert, S. Lavoie, N. Pouliot, Matthieu Montfrond, Serge Montambault","doi":"10.1109/ICUAS.2019.8798137","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8798137","url":null,"abstract":"This paper presents the design of a discrete-time control algorithm for power line tracking and assisted landing of Hydro-Quebec’s LineDrone robot, a multirotor unmanned aerial vehicle (UAV) designed to land on and roll along live power lines. The algorithm automatically aligns the UAV with the cable while the pilot remains in control of the vertical and longitudinal positions, hence facilitating landing by having fewer degrees of freedom on which the pilot must focus. Emphasis is placed on the design of the discrete-time control law, which results in a closed-form algebraic solution of gains for given transient specifications. The proposed control system is also designed to meet the requirements of operation near live lines, which means that the system is immune to electromagnetic interference. The proposed control algorithm is experimentally validated on LineDrone hybrid UAV under real outdoor conditions.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131358543","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-06-01DOI: 10.1109/ICUAS.2019.8798162
Wenxin Chen, Yingfei Dong, Z. Duan
While more and more consumer drones are abused in recent attacks, there is still very little systematical research on countering malicious consumer drones. In this paper, we focus on this issue and develop effective attacks to common autopilot control algorithms to compromise the flight paths of autopiloted drones, e.g., leading them away from its preset paths. We consider attacking an autopiloted drone in three phases: attacking its onboard sensors, attacking its state estimation, and attacking its autopilot algorithms. Several first-phase attacks have been developed (e.g., [1]–[4]); second-phase attacks (including our previous work [5], [6]) have also been investigated. In this paper, we focus on the third-phase attacks. We examine three common autopilot algorithms, and design several attacks by exploiting their weaknesses to mislead a drone from its preset path to a manipulated path. We present the formal analysis of the scope of such manipulated paths. We further discuss how to apply the proposed attacks to disrupt preset drone missions, such as missing a target in searching an area or misleading a drone to intercept another drone, etc. Many potential attacks can be built on top of the proposed attacks. We are currently investigating different models to apply such attacks on common drone missions and also building prototype systems on ArduPilot for real world tests. We will further investigate countermeasures to address the potential damages.
{"title":"Compromising Flight Paths of Autopiloted Drones","authors":"Wenxin Chen, Yingfei Dong, Z. Duan","doi":"10.1109/ICUAS.2019.8798162","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8798162","url":null,"abstract":"While more and more consumer drones are abused in recent attacks, there is still very little systematical research on countering malicious consumer drones. In this paper, we focus on this issue and develop effective attacks to common autopilot control algorithms to compromise the flight paths of autopiloted drones, e.g., leading them away from its preset paths. We consider attacking an autopiloted drone in three phases: attacking its onboard sensors, attacking its state estimation, and attacking its autopilot algorithms. Several first-phase attacks have been developed (e.g., [1]–[4]); second-phase attacks (including our previous work [5], [6]) have also been investigated. In this paper, we focus on the third-phase attacks. We examine three common autopilot algorithms, and design several attacks by exploiting their weaknesses to mislead a drone from its preset path to a manipulated path. We present the formal analysis of the scope of such manipulated paths. We further discuss how to apply the proposed attacks to disrupt preset drone missions, such as missing a target in searching an area or misleading a drone to intercept another drone, etc. Many potential attacks can be built on top of the proposed attacks. We are currently investigating different models to apply such attacks on common drone missions and also building prototype systems on ArduPilot for real world tests. We will further investigate countermeasures to address the potential damages.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114620853","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-06-01DOI: 10.1109/ICUAS.2019.8798116
Karan P. Jain, Trey Fortmuller, J. Byun, Simo A. Mäkiharju, M. Mueller
This paper presents a model to predict aero-dynamic disturbances during close formation flight of two multirotors. The model is based on a propeller velocity field model and characterization of change in propeller thrust under oncoming flow. Using this model, we predict forces and torques on one mutirotor due to downwash of the other with respect to relative separation of the multirotors. We conduct proximity flight experiments using two types of quadcopters to measure forces and torques using accelerometer and rategyro. Predictions from the model and results from experiments match well for vertical separations greater than seven times the vehicle size. This verifies the range of fidelity of the model.
{"title":"Modeling of aerodynamic disturbances for proximity flight of multirotors","authors":"Karan P. Jain, Trey Fortmuller, J. Byun, Simo A. Mäkiharju, M. Mueller","doi":"10.1109/ICUAS.2019.8798116","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8798116","url":null,"abstract":"This paper presents a model to predict aero-dynamic disturbances during close formation flight of two multirotors. The model is based on a propeller velocity field model and characterization of change in propeller thrust under oncoming flow. Using this model, we predict forces and torques on one mutirotor due to downwash of the other with respect to relative separation of the multirotors. We conduct proximity flight experiments using two types of quadcopters to measure forces and torques using accelerometer and rategyro. Predictions from the model and results from experiments match well for vertical separations greater than seven times the vehicle size. This verifies the range of fidelity of the model.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129365896","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-06-01DOI: 10.1109/ICUAS.2019.8798083
X. Liao, Chenchen Xu, Huanyin Yue
Increasing numbers and industrial applications for UAVs acquire much airspace for low-altitude flights. However, unknow and changeable environment has hindered UAVs’ rapid development. To enable UAVs flight safely and legally at low-altitude, this paper proposed a concept of “low-altitude public air route network (LAPAR)” and presented key technologies. Specifically, Firstly, a four-level air route system were proposed; Secondly, a low-altitude flight environment consisting of various constraints of UAV flights, such as climate, buildings, communication and mountains was constructed by modeling and gridding technology; Thirdly, the optimum path was searched by the improved Ant Colony optimization (ACO) algorithm; Lastly, a network of the public air route was constructed by formulating traffic management regulation for UAV flight in air routes. And a route map in Tianjin has also been obtained. This research can regulate low-altitude air traffic management, improve the utilization of low-altitude airspace resources, and ensure aviation and public safety.
{"title":"Enable UAVs safely flight in low-altitude: A Preliminary research of the public air route network of UAVs","authors":"X. Liao, Chenchen Xu, Huanyin Yue","doi":"10.1109/ICUAS.2019.8798083","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8798083","url":null,"abstract":"Increasing numbers and industrial applications for UAVs acquire much airspace for low-altitude flights. However, unknow and changeable environment has hindered UAVs’ rapid development. To enable UAVs flight safely and legally at low-altitude, this paper proposed a concept of “low-altitude public air route network (LAPAR)” and presented key technologies. Specifically, Firstly, a four-level air route system were proposed; Secondly, a low-altitude flight environment consisting of various constraints of UAV flights, such as climate, buildings, communication and mountains was constructed by modeling and gridding technology; Thirdly, the optimum path was searched by the improved Ant Colony optimization (ACO) algorithm; Lastly, a network of the public air route was constructed by formulating traffic management regulation for UAV flight in air routes. And a route map in Tianjin has also been obtained. This research can regulate low-altitude air traffic management, improve the utilization of low-altitude airspace resources, and ensure aviation and public safety.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133953277","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-06-01DOI: 10.1109/ICUAS.2019.8798161
A. Baldini, R. Felicetti, A. Freddi, S. Longhi, A. Monteriù
In this paper we present the design of a direct position control law of an octarotor under the presence of wind gust. The nominal control law is designed on a Newton-Euler model using a feedback linearisation technique, where a double integral control law is chosen in order to decouple the controlled variables’ dynamics. Then, the wind gust effect is attenuated through an additive correction term, which is based on disturbance observer. An exogenous system is considered in order to estimate the wind gust derivatives, and the overall closed loop boundedness is discussed. Numerical simulations are then reported in order to show the effectiveness of the control scheme, where the observer based technique is compared with the nominal one.
{"title":"Direct position control of an octarotor unmanned vehicle under wind gust disturbance","authors":"A. Baldini, R. Felicetti, A. Freddi, S. Longhi, A. Monteriù","doi":"10.1109/ICUAS.2019.8798161","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8798161","url":null,"abstract":"In this paper we present the design of a direct position control law of an octarotor under the presence of wind gust. The nominal control law is designed on a Newton-Euler model using a feedback linearisation technique, where a double integral control law is chosen in order to decouple the controlled variables’ dynamics. Then, the wind gust effect is attenuated through an additive correction term, which is based on disturbance observer. An exogenous system is considered in order to estimate the wind gust derivatives, and the overall closed loop boundedness is discussed. Numerical simulations are then reported in order to show the effectiveness of the control scheme, where the observer based technique is compared with the nominal one.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132954953","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：