Abstract
This paper presents in-flight testing results of the implementation of a biomimetic architecture for health monitoring of an Unmanned Aerial Vehicle (UAV) quadrotor. A non-linear dynamic inversion (NLDI) based controller has been developed and implemented for stability of the UAV. The system includes an autopilot, a sensor fusion solution and control algorithms that are fully integrated using a low cost research testbed for fast prototyping and implementation. The developed non-linear control laws were preliminary designed and tested in simulation and their stabilization capabilities demonstrated during in-flight experiments. This paper discusses tracking error response, robustness to different failures and performance of the bio-inspired health monitoring system for on-line diagnosis of the UAV system operating under upset conditions.
| Original language | American English |
|---|---|
| DOIs | |
| State | Published - Jul 1 2016 |
| Externally published | Yes |
| Event | 2016 American Control Conference (ACC) - Boston, MA Duration: Jul 1 2016 → … |
Conference
| Conference | 2016 American Control Conference (ACC) |
|---|---|
| Period | 7/1/16 → … |
Keywords
- aerospace testing
- autonomous aerial vehicles
- condition monitoring
- nonlinear control systems
- sensor fusion
- stability
- vehicle dynamics
- Vehicle dynamics
- Unmanned aerial vehicles
- Pulse width modulation
- Monitoring
- Dynamics
- Artificial intelligence
- biomimetic approach low cost implementation
- UAV health management
- in-flight testing
- unmanned aerial vehicle quadrotor
- nonlinear dynamic inversion based controller
- NLDI based controller
- UAV stability
- autopilot
- sensor fusion solution
- nonlinear control laws
- tracking error response
- bio-inspired health monitoring system
- UAV system online diagnosis
Disciplines
- Aerodynamics and Fluid Mechanics
- Aeronautical Vehicles
- Navigation, Guidance, Control and Dynamics