Envelope Protection for Autonomous Unmanned Aerial Vehicles

Download
2009-01-01
Yavrucuk, İlkay
Unnikrishnan, Suraj
This paper describes the design, development, and testing of an automatic envelope protection system as implemented on Georgia Institute of Technology's unmanned helicopter GTMax. The envelope protection system makes use of online-learning adaptive neural networks to generate online dynamic models, which are used to estimate limits on controller commands. The system provides command capability up to the limit boundaries while preventing envelope exceedance. Simulation and flight-test results are provided for load factor and rotor stall limit protection during aggressive maneuvering.
JOURNAL OF GUIDANCE CONTROL AND DYNAMICS

Suggestions

Flight Evaluation of a Reactionary Envelope Protection System for UAVs
Unnikrishnan, Suraj; Prasad, J. V. R.; Yavrucuk, İlkay (2011-01-01)
This paper presents the development and flight test evaluation of a reactionary envelope protection method suitable for limit protection in uninhabited aerial vehicles (UAVs). The method is based on finite-time horizon predictions of limit parameter response for detecting any impending limit boundary violations. Limit violations are prevented by treating limit boundaries as obstacles and by correcting nominal control/command inputs to track safe-response profiles of limit parameters near the limit boundarie...
Flight Evaluation of Reactionary Envelope Protection System
Yavrucuk, İlkay (2011-01-01)
This paper presents the development and flight test evaluation of a reactionary envelope protection method suitable for limit protection in uninhabited aerial vehicles (UAVs). The method is based on finite‐time horizon predictions of limit parameter response for detecting any impending limit boundary violations. Limit violations are prevented by treating limit boundaries as obstacles and by correcting nominal control/command inputs to track safe‐response profiles of limit parameters near the limit boundarie...
Flight control system design of an uncommon quadrotor aerial vehicle
Baskın, Mehmet; Leblebicioğlu, Mehmet Kemal; Department of Electrical and Electronics Engineering (2021-9-01)
In this thesis, design of a flight control system for an uncommon quadrotor aerial vehicle is discussed. This aerial vehicle consists of two counter-rotating big rotors on longitudinal axis to increase the lift capacity and flight endurance, and two counter-rotating small tilt rotors on lateral axis to stabilize the attitude. Firstly, full nonlinear dynamic model of this vehicle is obtained by using Newton-Euler formulation. Later, derived approximate linear model around hover is statically decoupled to sim...
Sliding Mode based Longitudinal Guidance of UAVs
Shah, M. Zamurad; Özgören, Mustafa Kemal; Samar, Raza (2014-07-11)
This paper presents a sliding mode based longitudinal guidance scheme for Unmanned Aerial Vehicles (UAVs). A nonlinear sliding surface is proposed here for altitude control of UAVs. Longitudinal guidance law based on traditional linear sliding surface cannot provide good performance for both large and small errors in altitude, hence a non-linear surface is proposed here. The proposed sliding surface gives good performance in level cruising as well as during climb/decent phase. The Proposed guidance scheme i...
Vortex Formation and Force Generation Mechanisms of the DelFly II in Hovering Flight
Tenaglia, A; Perçin, Mustafa; Van Oudheusden, Bas W.; Deng, Shuanghou; Remes, Bart (2014-08-12)
This paper addresses the unsteady aerodynamic mechanisms in the hovering flight of the DelFly II flapping-wing Micro Aerial Vehicle (MAV). Stereoscopic Particle Image Velocimetry (Stereo-PIV) were carried out around the wings at a high framing rate. Thrust-force was measured to investigate the relation between the vortex dynamics and the aerodynamic force generation. The results reveal that the Leading-Edge-Vortex (LEV), as well as the high flexibility of the wings, have a major effect on thrust generation....
Citation Formats
İ. Yavrucuk and S. Unnikrishnan, “Envelope Protection for Autonomous Unmanned Aerial Vehicles,” JOURNAL OF GUIDANCE CONTROL AND DYNAMICS, pp. 248–261, 2009, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/47812.