Non-Linear Analytical Mathematical Modelling of a Hybrid Fixed-Wing Unmanned Aerial Vehicle in Pusher Configuration

2021 ◽  
Author(s):  
Zairil Zaludin ◽  
Chen Chia ◽  
Ermira Abdullah
Keyword(s):  
Mathematical Modelling ◽  
Unmanned Aerial Vehicle ◽  
Non Linear ◽  
Aerial Vehicle

scholarly journals MATHEMATICAL MODELLING OF THE UNMANNED AERIAL VEHICLE DYNAMICS

2018 ◽  
pp. 37-44
Author(s):  
V. Y. Stepanov
Keyword(s):  
Mathematical Model ◽  
Mathematical Modelling ◽  
Unmanned Aerial Vehicle ◽  
Vehicle Dynamics ◽  
Point Of View ◽  
Dynamics Analysis ◽  
Aerial Vehicle ◽  
Main Components ◽  
Controlled Object

The article gives a classification of the main components of unmanned aerial vehicle (UAV) systems, gives the areas in which the application of UAVs is actual in practice today. Further, the UAV is considered in more detail from the point of view of its flight dynamics analysis, the equation necessary for creating a mathematical model, as well as the model of an ordinary dynamic system as a non-stationary nonlinear controlled object, is given. Next, a description of the developed software for modeling and a description of program algorithm are given. Finally, a conclusion describes the necessary directions for further scientific researches.

Sensor fault–tolerant control of a quadrotor unmanned aerial vehicle

2021 ◽  
pp. 095441002110155
Author(s):  
Mehmet Gokberk Patan ◽  
Fikret Caliskan
Keyword(s):  
Kalman Filter ◽  
Control System ◽  
Unmanned Aerial Vehicle ◽  
Unscented Kalman Filter ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Sensor Faults ◽  
Cubature Kalman Filter ◽  
Non Linear ◽  
Aerial Vehicle

This article handles the issue of fault-tolerant control of a quadrotor unmanned aerial vehicle (UAV) in the existence of sensor faults. A general non-linear model of the quadrotor is presented. Several non-linear Kalman filters namely, the extended Kalman filter, the unscented Kalman filter and the cubature Kalman filter (CKF) are utilized to estimate the states of the quadrotor and to compare the estimation performances. Some flight scenarios are simulated, and the simulation results show that the CKF has the smallest estimation error as expected in theory. Control of the quadrotor heavily depends on the measured values received from sensors. Therefore, the control system requires fault-free sensors. However, small quadrotors and UAVs are mostly equipped with low-cost and low-quality sensors, and hence, they may fail to indicate correct measurement values. If the sensors are faulty, then the control system itself should be actively tolerant to sensor faults. Measurements of these kinds of sensors suffer from bias and external noise due to temperature variations, vibration and other external conditions. Since the bias is one of the very common faults in these sensors, a sensor bias is taken into consideration as a fault and occurs abruptly at a certain time and continues throughout the considered scenarios. By using the residual signals generated by the non-linear filters, sensor faults are detected and isolated. Then, two different methods are proposed for removing the effects of faults and achieving active fault–tolerant control. The effectiveness of the presented two techniques is shown in the simulations.

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