Motion Control of TUAV having Eight Rotors for Enhanced Situational Awareness
This paper focuses on a critical component of the
situational awareness (SA), the control of autonomous vertical flight for tactical unmanned aerial vehicle (TUAV). 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 eight-rotor helicopter
model. This control strategy for chosen model of mini-TUAV has been verified by simulation of hovering maneuvers using software
package Simulink and demonstrated good performance for fast
stabilization of engines in hovering, consequently, fast SA with
economy in energy of batteries can be asserted during search-andrescue
operations.
[1] M. R. Endsley, "Toward a theory of situation awareness in dynamic systems," Human Factors, vol. 37, pp. 32-64, March 1995.
[2] 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.
[3] Interim Brigade Combat Team Newsletter. [Online]. Available:
http://www.globalsecurity.org/military/library/ report/call/call_01-18_
toc.htm
[4] 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.
[5] 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.
[6] S. Salazar, H. Romero, J. Gomez, and R. Lozano, "Real-time stereo
visual servoing control of an UAV having eight-rotors," in Proc. 6th
International Conf. Electrical Engineering, Computing Science and
Automatic Control, Toluca, Mexico, 2009, pp. 1-11.
[7] K. Benzemrane, G. L. Santosuosso, and G. Damm, "Unmanned aerial
vehicle speed estimation via nonlinear adaptive observers," in Proc.
2007 American Control Conf., New York, USA, 2007, pp. 985-990.
[8] H. Romero, S. Salazar, and R. Lozano, "Real-time stabilization of an
eight-rotor UAV using optical flow," IEEE Trans. Robotics, vol. 25, pp. 809-817, August 2009.
[9] D. Krutko, Inverse Problems of Control System Dynamics: Nonlinear
Models. Moscow: Nauka, 1989.
[10] L. S. Pontryagin, Ordinary Differential Equations. Moscow: Nauka,
1974.
[1] M. R. Endsley, "Toward a theory of situation awareness in dynamic systems," Human Factors, vol. 37, pp. 32-64, March 1995.
[2] 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.
[3] Interim Brigade Combat Team Newsletter. [Online]. Available:
http://www.globalsecurity.org/military/library/ report/call/call_01-18_
toc.htm
[4] 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.
[5] 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.
[6] S. Salazar, H. Romero, J. Gomez, and R. Lozano, "Real-time stereo
visual servoing control of an UAV having eight-rotors," in Proc. 6th
International Conf. Electrical Engineering, Computing Science and
Automatic Control, Toluca, Mexico, 2009, pp. 1-11.
[7] K. Benzemrane, G. L. Santosuosso, and G. Damm, "Unmanned aerial
vehicle speed estimation via nonlinear adaptive observers," in Proc.
2007 American Control Conf., New York, USA, 2007, pp. 985-990.
[8] H. Romero, S. Salazar, and R. Lozano, "Real-time stabilization of an
eight-rotor UAV using optical flow," IEEE Trans. Robotics, vol. 25, pp. 809-817, August 2009.
[9] D. Krutko, Inverse Problems of Control System Dynamics: Nonlinear
Models. Moscow: Nauka, 1989.
[10] L. S. Pontryagin, Ordinary Differential Equations. Moscow: Nauka,
1974.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:57106", author = "Igor Astrov and Andrus Pedai", title = "Motion Control of TUAV having Eight Rotors for Enhanced Situational Awareness", abstract = "This paper focuses on a critical component of the
situational awareness (SA), the control of autonomous vertical flight for tactical unmanned aerial vehicle (TUAV). 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 eight-rotor helicopter
model. This control strategy for chosen model of mini-TUAV has been verified by simulation of hovering maneuvers using software
package Simulink and demonstrated good performance for fast
stabilization of engines in hovering, consequently, fast SA with
economy in energy of batteries can be asserted during search-andrescue
operations.", keywords = "Flight control, eight-rotor helicopter, situational awareness, tactical unmanned aerial vehicle", volume = "5", number = "12", pages = "2641-8", }