Get 20M+ Full-Text Papers For Less Than $1.50/day. Start a 14-Day Trial for You or Your Team.

Learn More →

Unmanned aerial vehicle trajectory tracking algorithm comparison

Unmanned aerial vehicle trajectory tracking algorithm comparison Purpose The purpose of this paper is to analyze and compare the performance of several different UAV trajectory tracking algorithms in normal and abnormal flight conditions to investigate the faulttolerant capabilities of a novel immunitybased adaptive mechanism.Designmethodologyapproach The evaluation of these algorithms is performed using the West Virginia University WVU UAV simulation environment. Three types of fixedparameter algorithms are considered as well as their adaptive versions obtained by adding an immunitybased mechanism. The types of control laws investigated are position proportional, integral, and derivative control, outerloop nonlinear dynamic inversion NLDI, and extended NLDI. Actuator failures on the three channels and increased turbulence conditions are considered for several different flight paths. Specific and global performance metrics are defined based on trajectory tracking errors and control surface activity.Findings The performance of all of the adaptive controllers proves to be better than their fixed parameter counterparts during the presence of a failure in all cases considered.Research limitationsimplications The immunity inspired adaptation mechanism has promising potential to enhance the faulttolerant capabilities of autonomous flight control algorithms and the extension of its use at all levels within the control laws considered and in conjunction with other control architectures is worth investigating.Practical implications The WVU UAV simulation environment has been proved to be a valuable tool for autonomous flight algorithm development, testing, and evaluation in normal and abnormal flight conditions.Originalityvalue A novel adaptation mechanism is investigated for UAV control algorithms with faulttolerant capabilities. The issue of fault tolerance of UAV control laws has only been addressed in a limited manner in the literature, although it becomes critical in the context of imminent integration of UAVs within the commercial airspace. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png International Journal of Intelligent Unmanned Systems Emerald Publishing

Unmanned aerial vehicle trajectory tracking algorithm comparison

Download PDF
27 pages

Loading next page...
 
/lp/emerald-publishing/unmanned-aerial-vehicle-trajectory-tracking-algorithm-comparison-lu7M0IAfFj

References (42)

Publisher
Emerald Publishing
Copyright
Copyright © Emerald Group Publishing Limited
ISSN
2049-6427
DOI
10.1108/IJIUS-05-2013-0018
Publisher site
See Article on Publisher Site

Abstract

Purpose The purpose of this paper is to analyze and compare the performance of several different UAV trajectory tracking algorithms in normal and abnormal flight conditions to investigate the faulttolerant capabilities of a novel immunitybased adaptive mechanism.Designmethodologyapproach The evaluation of these algorithms is performed using the West Virginia University WVU UAV simulation environment. Three types of fixedparameter algorithms are considered as well as their adaptive versions obtained by adding an immunitybased mechanism. The types of control laws investigated are position proportional, integral, and derivative control, outerloop nonlinear dynamic inversion NLDI, and extended NLDI. Actuator failures on the three channels and increased turbulence conditions are considered for several different flight paths. Specific and global performance metrics are defined based on trajectory tracking errors and control surface activity.Findings The performance of all of the adaptive controllers proves to be better than their fixed parameter counterparts during the presence of a failure in all cases considered.Research limitationsimplications The immunity inspired adaptation mechanism has promising potential to enhance the faulttolerant capabilities of autonomous flight control algorithms and the extension of its use at all levels within the control laws considered and in conjunction with other control architectures is worth investigating.Practical implications The WVU UAV simulation environment has been proved to be a valuable tool for autonomous flight algorithm development, testing, and evaluation in normal and abnormal flight conditions.Originalityvalue A novel adaptation mechanism is investigated for UAV control algorithms with faulttolerant capabilities. The issue of fault tolerance of UAV control laws has only been addressed in a limited manner in the literature, although it becomes critical in the context of imminent integration of UAVs within the commercial airspace.

Journal

International Journal of Intelligent Unmanned Systems – Emerald Publishing

Published: Jul 26, 2013

There are no references for this article.