January 2025
·
1 Read
Journal of Institute of Control Robotics and Systems
This page lists works of an author who doesn't have a ResearchGate profile or hasn't added the works to their profile yet. It is automatically generated from public (personal) data to further our legitimate goal of comprehensive and accurate scientific recordkeeping. If you are this author and want this page removed, please let us know.
January 2025
·
1 Read
Journal of Institute of Control Robotics and Systems
January 2025
·
3 Reads
Journal of Institute of Control Robotics and Systems
January 2025
·
8 Reads
This paper describes the tailless control system design of a flapping-wing micro air vehicle in a four-winged configuration, which can provide high control authority to be stable and agile in flight conditions from hovering to maneuvering flights. The tailless control system consists of variable flapping frequency and wing twist modulation. The variable flapping frequency creates rolling moments through differential vertical force from flapping mechanisms that can be independently driven on the left and right sides. The wing twist modulation changes wing tension, resulting in vertical and horizontal force variations during one flap cycle and generating pitching and yaw moments. We presume that the wing geometry and implementation method of wing-root actuation are related to the control authority of wing twist modulation. Then, the control system’s performance is analyzed for various wing geometries and implementation methods, including wing length, leading-edge thickness, camber angle, and vein configuration. Furthermore, the cross-coupling effect is examined for the wing twist modulation, and a control surface interconnect is designed to compensate for the decrease of pitch control authority and adverse rolling moment. The refined wing and control mechanism demonstrated its high control authority without significant loss of vertical force and power efficiency. The flight experiments validated that the control system based on wing twist modulation is suitable for four-winged flapping-wing micro air vehicles, providing sufficient control moment and minimizing the cross-coupling effect.
January 2025
·
5 Reads
International Journal of Control Automation and Systems
This paper presents the design and performance analysis of the attitude control of an ornithopter that replicates the flapping wing motion of a bird. The flapping wing motion induces periodic vibrations and increases model uncertainty, making it essential to study attitude control strategies that exhibit high robustness to external disturbances specific to ornithopters. This study focuses on analyzing the attitude control performance of an ornithopter using active disturbance rejection control (ADRC), a controller that estimates disturbances using an observer and employs control actions to eliminate them. A baseline controller, namely the proportional-integral (PI) controller, is designed for comparative analysis, while the ADRC complements for the control input command of the baseline controller. The aircraft used in the experiments is self-designed and manufactured, equipped with active wing torsion mechanism and elevator as control inputs for roll and pitch axes, respectively. Aerodynamic coefficients related to control effectiveness are obtained through wind tunnel experiments. The analysis primarily evaluates the attitude control performance, including attitude command tracking, vibration in control signals, and robustness to external disturbances. The results demonstrate that the ADRC significantly reduces command tracking errors compared to the PI controller. Additionally, the ADRC effectively reduces high-frequency vibration in the control input, thereby improving roll control performance.
December 2024
·
10 Reads
International Journal of Control Automation and Systems
Incremental nonlinear dynamic inversion (INDI) is a robust control technique that uses angular acceleration to handle disturbances. However, due to differentiation, sensor-based angular acceleration feedback has issues such as time delay and noise amplification. On the other hand, model-based angular acceleration estimation uses model information and state feedback from the moment equation. This paper introduces a hybrid INDI approach that addresses the angular acceleration estimation issue through complementary filtering. The proposed method combines sensor-based and model-based angular acceleration estimates. A hybrid INDI-based attitude controller is tested on a UAV to verify this approach. An urban wind environment model is integrated to simulate disturbance conditions. The simulation results demonstrate that the hybrid INDI approach provides more accurate angular acceleration estimation and superior robustness compared to conventional INDI.
October 2024
·
6 Reads
September 2024
·
10 Reads
·
1 Citation
Control Engineering Practice
August 2024
·
7 Reads
Journal of Institute of Control Robotics and Systems
May 2024
·
8 Reads
·
1 Citation
May 2024
·
4 Reads
... There exist two main methods to generate a residual: Kalman filters [10][11][12] and asymptotically stable observers (Luenberger observers) [13][14][15]. In [16,17]. The methods of fault diagnosis in various robotic systems using extended Kalman filters are described. ...
May 2024
... However, due to various constraints, it is difficult to obtain accurate aerodynamic data in practical engineering, resulting in the failure of NDI controllers to accurately eliminate the nonlinear part of aircraft dynamics, which reduces control performance. Many scholars have improved the method, aiming to retain the excellent characteristics of NDI control while reducing the dependence on accurate models to improve robustness [22,23]. In this, the incorporation of adaptive control strategies into the NDI control system proved to be an effective approach, and this type of improvement is known as adaptive dynamic inverse (adaptive NDI, ANDI) [24]. ...
January 2024
... Additionally, the Incremental Back-Stepping Controller was adopted as the trajectory-tracking controller [9]. Jin Park utilized the direct collocation method to design the eVTOL trajectory [10]. However, these articles fail to consider the vehicle's obstacle avoidance problem during landing. ...
June 2023
Aerospace Science and Technology
... Based on their functions and structures, UAVs can be divided into two categories: fixed-wing UAVs and helicopters [4][5][6]. Fixed-wing UAVs have the advantages of fast flight speed, extended range, high efficiency, and low noise [7,8]. However, the application of fixed-wing UAVs is restricted by the high landing site requirements associated with their takeoff and landing manner. ...
September 2022
Lecture Notes in Electrical Engineering
... 임무 고도를 침하하지 않으며 비행 가능한 궤적을 생성하 기 위해서 지형 고도 프로파일을 매끄럽게 처리하거 나 [4] 항공기 고도를 제약조건으로 하는 최적화 기법들 이 [5] 사용되며, 퍼지 로직을 활용하여 적합한 궤적을 설계하는 연구들이 존재한다 [6] . 생성된 궤적을 추종하 기 위해서는 각각 설계된 제어기를 통해 피치 각 [7] , 비행경로 각 [8][9] , 또는 수직 가속도 [10] [11] , L1 적응제어기법을 적용하여 바람을 고려한 방위각 각 명령을 생성하거나 [12] , 적분 기가 추가된 백스테핑 기법을 활용하여 공력계수의 불확실성을 보상하여 비행경로 각의 성능을 보장하는 연구가 존재한다 [13] . 이전까지의 ...
October 2021
... For example, in [29][30][31], multiple quadrotors are utilized to transport a payload considering disturbances. Payload transportation using a single quadrotor using geometric approach has been studied and experimentally validated in [32]. A distributed approach to collaborative transportation using model predictive control has been demonstrated in [33]. ...
December 2020
... These algorithms use the known model of the system for controller design. Examples of such algorithms include model predictive control (MPC) [7], sliding mode control algorithm [8], linear quadratic regulator (LQR) [9] control, model compensation control (MCC) [10,11] and active disturbance rejection control (ADRC) [12,13]. The core of ADRC is the extended state observer (ESO) [14,15]. ...
January 2019
IFAC-PapersOnLine
... Figure 2 shows the coordinates and control surfaces of a quadrotor UAV. The main equations of the quadrotor model were derived from [21] and [22]. These formulas are based on the dynamics of rigid bodies using the Newton-Euler equation. ...
September 2019
International Journal of Aeronautical and Space Sciences
... The core of the communication environment using ROS is a message communication between nodes, consisting of a Publisher that transmits information, a Subscriber that receives data, and a Master that helps connect nodes. Figure 14 shows the structure of the DFA system built using ROS [29]. ...
May 2019
Journal of Institute of Control Robotics and Systems
... Seven UAV flights were performed between 30 April and 30 June 2022, when the weather conditions were mild. The UAV we used was the DF-100 fixed-wing UAV [27]. The full-length is 1450 mm. ...
February 2019
International Journal of Aeronautical and Space Sciences