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- Integral backstepping technique (1)
- Linear quadratic regulator (1)
- Model-free control (1)
- Nonlinear control quadrotor uav (1)
- UAV (1)
- aerodynamics (1)
- dynamic vector fields (1)
- flight zone (1)
- geofence (1)
This work addresses the issue of finding an optimal flight zone for a side-by-side tracking and following Unmanned Aerial Vehicle(UAV) adhering to space-restricting factors brought upon by a dynamic Vector Field Extraction (VFE) algorithm. The VFE algorithm demands a relatively perpendicular field of view of the UAV to the tracked vehicle, thereby enforcing the space-restricting factors which are distance, angle and altitude. The objective of the UAV is to perform side-by-side tracking and following of a lightweight ground vehicle while acquiring high quality video of tufts attached to the side of the tracked vehicle. The recorded video is supplied to the VFE algorithm that produces the positions and deformations of the tufts over time as they interact with the surrounding air, resulting in an airflow model of the tracked vehicle. The present limitations of wind tunnel tests and computational fluid dynamics simulation suggest the use of a UAV for real world evaluation of the aerodynamic properties of the vehicle’s exterior. The novelty of the proposed approach is alluded to defining the specific flight zone restricting factors while adhering to the VFE algorithm, where as a result we were capable of formalizing a locally-static and a globally-dynamic geofence attached to the tracked vehicle and enclosing the UAV.
The objective of this paper is to deal with a new technique based on Model-Free Control (MFC). The concept of this controller is to use a basic controller along with an ultra-local model to compensate for system’s uncertainties and disturbances. In this paper, a proposed algorithm is introduced based on an integrated structure between the Nonlinear Integral-Backstepping technique (NIB) and the MFC. The LQR, NIB, LQR-MFC, and NIB-MFC are implemented on a real quadrotor UAV. Various real-time flight tests are conducted to validate the importance of using the MFC side by side with NIB. The proposed combination shows robust performance compared to the other algorithms under fault-free and actuator fault conditions.
