Pub Date : 2024-01-25DOI: 10.1142/s2301385025500268
S. Benmansour, Fethi Demim, Ali Zakaria Messaoui
{"title":"Robust Control of Golf Swing Robot using Back-Stepping based on Fuzzy Sliding Mode and Super Twisting Backstepping Sliding Mode Algorithm","authors":"S. Benmansour, Fethi Demim, Ali Zakaria Messaoui","doi":"10.1142/s2301385025500268","DOIUrl":"https://doi.org/10.1142/s2301385025500268","url":null,"abstract":"","PeriodicalId":44832,"journal":{"name":"Unmanned Systems","volume":null,"pages":null},"PeriodicalIF":5.3,"publicationDate":"2024-01-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139598944","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-01-19DOI: 10.1142/s230138502442007x
N. L. Mohd Kamal, Z. Sahwee, N. Norhashim, S. Ahmad Shah, W. Hashim
{"title":"Throughput Performance of Cellular-Connected UAV Coexisting with Terrestrial Users","authors":"N. L. Mohd Kamal, Z. Sahwee, N. Norhashim, S. Ahmad Shah, W. Hashim","doi":"10.1142/s230138502442007x","DOIUrl":"https://doi.org/10.1142/s230138502442007x","url":null,"abstract":"","PeriodicalId":44832,"journal":{"name":"Unmanned Systems","volume":null,"pages":null},"PeriodicalIF":5.3,"publicationDate":"2024-01-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139525566","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-01-18DOI: 10.1142/s2301385024410206
Zhaohan Feng, Jie Chen, Wei Xiao, Jian Sun, Bin Xin, Gang Wang
In recent years, drones have found increased applications in a wide array of real-world tasks. Model predictive control (MPC) has emerged as a practical method for drone flight control, owing to its robustness against modeling errors/uncertainties and external disturbances. However, MPC's sensitivity to manually tuned parameters can lead to rapid performance degradation when faced with unknown environmental dynamics. This paper addresses the challenge of controlling a drone as it traverses a swinging gate characterized by unknown dynamics. This paper introduces a parameterized MPC approach named hyMPC that leverages high-level decision variables to adapt to uncertain environmental conditions. To derive these decision variables, a novel policy search framework aimed at training a high-level Gaussian policy is presented. Subsequently, we harness the power of neural network policies, trained on data gathered through the repeated execution of the Gaussian policy, to provide real-time decision variables. The effectiveness of hyMPC is validated through numerical simulations, achieving a 100% success rate in 20 drone flight tests traversing a swinging gate, demonstrating its capability to achieve safe and precise flight with limited prior knowledge of environmental dynamics.
{"title":"Learning Hybrid Policies for MPC with Application to Drone Flight in Unknown Dynamic Environments","authors":"Zhaohan Feng, Jie Chen, Wei Xiao, Jian Sun, Bin Xin, Gang Wang","doi":"10.1142/s2301385024410206","DOIUrl":"https://doi.org/10.1142/s2301385024410206","url":null,"abstract":"In recent years, drones have found increased applications in a wide array of real-world tasks. Model predictive control (MPC) has emerged as a practical method for drone flight control, owing to its robustness against modeling errors/uncertainties and external disturbances. However, MPC's sensitivity to manually tuned parameters can lead to rapid performance degradation when faced with unknown environmental dynamics. This paper addresses the challenge of controlling a drone as it traverses a swinging gate characterized by unknown dynamics. This paper introduces a parameterized MPC approach named hyMPC that leverages high-level decision variables to adapt to uncertain environmental conditions. To derive these decision variables, a novel policy search framework aimed at training a high-level Gaussian policy is presented. Subsequently, we harness the power of neural network policies, trained on data gathered through the repeated execution of the Gaussian policy, to provide real-time decision variables. The effectiveness of hyMPC is validated through numerical simulations, achieving a 100% success rate in 20 drone flight tests traversing a swinging gate, demonstrating its capability to achieve safe and precise flight with limited prior knowledge of environmental dynamics.","PeriodicalId":44832,"journal":{"name":"Unmanned Systems","volume":null,"pages":null},"PeriodicalIF":5.3,"publicationDate":"2024-01-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139526617","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-16DOI: 10.1142/s2301385024010015
Jie Chen, Ben M. Chen, Lihua Xie
{"title":"A Word of Thanks, and the Reviewer List for 2023","authors":"Jie Chen, Ben M. Chen, Lihua Xie","doi":"10.1142/s2301385024010015","DOIUrl":"https://doi.org/10.1142/s2301385024010015","url":null,"abstract":"","PeriodicalId":44832,"journal":{"name":"Unmanned Systems","volume":null,"pages":null},"PeriodicalIF":5.3,"publicationDate":"2023-12-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138995489","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-14DOI: 10.1142/s2301385025500220
Jintasit Pravitra, Eric N. Johnson
{"title":"Development and Flight Testing of Guidance, Navigation, Control, and Operator Interface for Shipboard Helicopter Operations","authors":"Jintasit Pravitra, Eric N. Johnson","doi":"10.1142/s2301385025500220","DOIUrl":"https://doi.org/10.1142/s2301385025500220","url":null,"abstract":"","PeriodicalId":44832,"journal":{"name":"Unmanned Systems","volume":null,"pages":null},"PeriodicalIF":5.3,"publicationDate":"2023-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138973794","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-14DOI: 10.1142/s2301385025500232
Hassan Haghighi, Daniel Delahaye, J. Moschetta, D. Asadi
{"title":"UAV Trajectory Optimization for Maximum Soaring in Windy Environment","authors":"Hassan Haghighi, Daniel Delahaye, J. Moschetta, D. Asadi","doi":"10.1142/s2301385025500232","DOIUrl":"https://doi.org/10.1142/s2301385025500232","url":null,"abstract":"","PeriodicalId":44832,"journal":{"name":"Unmanned Systems","volume":null,"pages":null},"PeriodicalIF":5.3,"publicationDate":"2023-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139002397","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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