Path following for unmanned helicopter: An approach on energy autonomy improvement

Autores
Gandolfo, Daniel; Salinas, Lucio Rafael; Toibero, Juan Marcos; Brandão, Alexandre
Año de publicación
2016
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
In the last decades, research efforts related to Unmanned Aerial Vehicles (UAV) have grown substantially in terms of control stabilization and navigation strategies. However, the energy available on board is finite and this is a limiting factor that prevents engineers from coming up with the best aerial solution in many situations. In this paper the path following control of a helicopter UAV based on the kinematic model is proposed using a feedback linearization technique. The helicopter speed is adjusted according to direction changes of the desired path. Thus, the aircraft should holds its own weight in the air for the shortest possible time, aiming to save energy without neglecting the position control errors which can accumulate when its velocity increases and path direction changes. The proposed controller output is coupled to a dynamic model of a helicopter in order to evaluate the dynamic effects and to adjust the controller parameters. The stability of the controller is demonstrated in the sense of Lyapunov theory and validated by simulation results.
Fil: Gandolfo, Daniel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Salinas, Lucio Rafael. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Toibero, Juan Marcos. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Brandão, Alexandre. Universidad Federal de Viçosa; Brasil
Materia
PATH FOLLOWING CONTROLLER
POSITION CONTROL ERRORS
TRAVELED PATH
UNMANNED AERIAL VEHICLES
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/56889
Acceder
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network_name_str CONICET Digital (CONICET)
spelling Path following for unmanned helicopter: An approach on energy autonomy improvementGandolfo, DanielSalinas, Lucio RafaelToibero, Juan MarcosBrandão, AlexandrePATH FOLLOWING CONTROLLERPOSITION CONTROL ERRORSTRAVELED PATHUNMANNED AERIAL VEHICLEShttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2In the last decades, research efforts related to Unmanned Aerial Vehicles (UAV) have grown substantially in terms of control stabilization and navigation strategies. However, the energy available on board is finite and this is a limiting factor that prevents engineers from coming up with the best aerial solution in many situations. In this paper the path following control of a helicopter UAV based on the kinematic model is proposed using a feedback linearization technique. The helicopter speed is adjusted according to direction changes of the desired path. Thus, the aircraft should holds its own weight in the air for the shortest possible time, aiming to save energy without neglecting the position control errors which can accumulate when its velocity increases and path direction changes. The proposed controller output is coupled to a dynamic model of a helicopter in order to evaluate the dynamic effects and to adjust the controller parameters. The stability of the controller is demonstrated in the sense of Lyapunov theory and validated by simulation results.Fil: Gandolfo, Daniel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Salinas, Lucio Rafael. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Toibero, Juan Marcos. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Brandão, Alexandre. Universidad Federal de Viçosa; BrasilKaunas University of Technology2016-03info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/56889Gandolfo, Daniel; Salinas, Lucio Rafael; Toibero, Juan Marcos; Brandão, Alexandre; Path following for unmanned helicopter: An approach on energy autonomy improvement; Kaunas University of Technology; Information Technology and Control; 45; 1; 3-2016; 86-981392-124X2335-884XCONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/doi/10.5755/j01.itc.45.1.12413info:eu-repo/semantics/altIdentifier/url/http://www.itc.ktu.lt/index.php/ITC/article/view/12413info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-29T10:40:59Zoai:ri.conicet.gov.ar:11336/56889instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-09-29 10:40:59.692CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Path following for unmanned helicopter: An approach on energy autonomy improvement
title Path following for unmanned helicopter: An approach on energy autonomy improvement
spellingShingle Path following for unmanned helicopter: An approach on energy autonomy improvement
Gandolfo, Daniel
PATH FOLLOWING CONTROLLER
POSITION CONTROL ERRORS
TRAVELED PATH
UNMANNED AERIAL VEHICLES
title_short Path following for unmanned helicopter: An approach on energy autonomy improvement
title_full Path following for unmanned helicopter: An approach on energy autonomy improvement
title_fullStr Path following for unmanned helicopter: An approach on energy autonomy improvement
title_full_unstemmed Path following for unmanned helicopter: An approach on energy autonomy improvement
title_sort Path following for unmanned helicopter: An approach on energy autonomy improvement
dc.creator.none.fl_str_mv Gandolfo, Daniel
Salinas, Lucio Rafael
Toibero, Juan Marcos
Brandão, Alexandre
author Gandolfo, Daniel
author_facet Gandolfo, Daniel
Salinas, Lucio Rafael
Toibero, Juan Marcos
Brandão, Alexandre
author_role author
author2 Salinas, Lucio Rafael
Toibero, Juan Marcos
Brandão, Alexandre
author2_role author
author
author
dc.subject.none.fl_str_mv PATH FOLLOWING CONTROLLER
POSITION CONTROL ERRORS
TRAVELED PATH
UNMANNED AERIAL VEHICLES
topic PATH FOLLOWING CONTROLLER
POSITION CONTROL ERRORS
TRAVELED PATH
UNMANNED AERIAL VEHICLES
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv In the last decades, research efforts related to Unmanned Aerial Vehicles (UAV) have grown substantially in terms of control stabilization and navigation strategies. However, the energy available on board is finite and this is a limiting factor that prevents engineers from coming up with the best aerial solution in many situations. In this paper the path following control of a helicopter UAV based on the kinematic model is proposed using a feedback linearization technique. The helicopter speed is adjusted according to direction changes of the desired path. Thus, the aircraft should holds its own weight in the air for the shortest possible time, aiming to save energy without neglecting the position control errors which can accumulate when its velocity increases and path direction changes. The proposed controller output is coupled to a dynamic model of a helicopter in order to evaluate the dynamic effects and to adjust the controller parameters. The stability of the controller is demonstrated in the sense of Lyapunov theory and validated by simulation results.
Fil: Gandolfo, Daniel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Salinas, Lucio Rafael. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Toibero, Juan Marcos. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Brandão, Alexandre. Universidad Federal de Viçosa; Brasil
description In the last decades, research efforts related to Unmanned Aerial Vehicles (UAV) have grown substantially in terms of control stabilization and navigation strategies. However, the energy available on board is finite and this is a limiting factor that prevents engineers from coming up with the best aerial solution in many situations. In this paper the path following control of a helicopter UAV based on the kinematic model is proposed using a feedback linearization technique. The helicopter speed is adjusted according to direction changes of the desired path. Thus, the aircraft should holds its own weight in the air for the shortest possible time, aiming to save energy without neglecting the position control errors which can accumulate when its velocity increases and path direction changes. The proposed controller output is coupled to a dynamic model of a helicopter in order to evaluate the dynamic effects and to adjust the controller parameters. The stability of the controller is demonstrated in the sense of Lyapunov theory and validated by simulation results.
publishDate 2016
dc.date.none.fl_str_mv 2016-03
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/56889
Gandolfo, Daniel; Salinas, Lucio Rafael; Toibero, Juan Marcos; Brandão, Alexandre; Path following for unmanned helicopter: An approach on energy autonomy improvement; Kaunas University of Technology; Information Technology and Control; 45; 1; 3-2016; 86-98
1392-124X
2335-884X
CONICET Digital
CONICET
url http://hdl.handle.net/11336/56889
identifier_str_mv Gandolfo, Daniel; Salinas, Lucio Rafael; Toibero, Juan Marcos; Brandão, Alexandre; Path following for unmanned helicopter: An approach on energy autonomy improvement; Kaunas University of Technology; Information Technology and Control; 45; 1; 3-2016; 86-98
1392-124X
2335-884X
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/doi/10.5755/j01.itc.45.1.12413
info:eu-repo/semantics/altIdentifier/url/http://www.itc.ktu.lt/index.php/ITC/article/view/12413
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
application/pdf
application/pdf
dc.publisher.none.fl_str_mv Kaunas University of Technology
publisher.none.fl_str_mv Kaunas University of Technology
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
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score 13.070432

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