DYNAMICS MODELING AND FEEDFORWARD CONTROL OF A COMPACT UAV (UNMANNED AERIAL VEHICLE)
Makishi Nakayama, Yuta Shimizu
Strony: 180-186
Opublikowano: 18 Sep 2019
Wyświetlenia: 1,438
Pobrania: 148
Streszczenie: In this paper, we modeled the dynamic characteristics of the drone type UAV (Unmanned aerial vehicle) moving in the lateral direction toward the front. Using this model, we constructed a control model for feed forward control to avoid obstacles from the front by step change of the speed target value. In this paper, the dynamic characteristics of the drone are modeled as the first-order lag transfer function when the left and right movement start by the stepwise change of the target speed value. Moreover, the dynamic characteristics at the end of flight where step change is returned to 0 are considered as transfer functions in which two first-order lag transfer functions are connected in series, and a model with continuity is constructed. The model was evaluated by comparing the actual data collection by experiments and numerical simulation. Moreover, using this dynamic characteristic, the control model that outputs the step-like speed change time was constructed with the movement distance required for avoidance as an input, and it was confirmed that it is useful for obstacle avoidance.
Słowa kluczowe: uav, dynamics, dynamic modeling, obstacle avoidance, feed forward control
Cytowanie artykułu: Makishi Nakayama, Yuta Shimizu. DYNAMICS MODELING AND FEEDFORWARD CONTROL OF A COMPACT UAV (UNMANNED AERIAL VEHICLE). Journal of International Scientific Publications: Materials, Methods & Technologies 13, 180-186 (2019). https://www.scientific-publications.net/en/article/1001893/
Powrót do spisu treści tomu
© 2025 The Author(s). This is an open access article distributed under the terms of the
Creative Commons Attribution License https://creativecommons.org/licenses/by/4.0/, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. This permission does not cover any third party copyrighted material which may appear in the work requested.
Disclaimer: The Publisher and/or the editor(s) are not responsible for the statements, opinions, and data contained in any published works. These are solely the views of the individual author(s) and contributor(s). The Publisher and/or the editor(s) disclaim any liability for injury to individuals or property arising from the ideas, methods, instructions, or products mentioned in the content.
