Small low-cost unmanned aerial vehicles (UAVs) provide greater possibilities for personal scientific research than other conventional platforms such as satellites or manned aircraft. In order to provide precision aeri...
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ISBN:
(纸本)9781479908158
Small low-cost unmanned aerial vehicles (UAVs) provide greater possibilities for personal scientific research than other conventional platforms such as satellites or manned aircraft. In order to provide precision aerial imagery or other scientific data, an accurate model of vehicle dynamics is needed for controller development and tuning. The purpose of this paper is to provide a survey of current methods and applications of system identification (system ID) for small low-cost UAVs. This survey divides UAVs into 5 groups: helicopter, fixed-wing, multirotor, flapping-wing, and lighter-than-air. The current state of system ID research with respect to various types of UAVs is reviewed based on research literature. System ID methods and application are tabulated for further research. Concluding remarks are given and applications for system ID methods to small low-cost UAVs are recommended.
In this paper, a novel design of an Extremum-Seeking Controller (ESC) based on Sliding Mode Control (SMC) for a class of Single-Input-Single-Output (SISO) uncertain or unknown nonlinear systems is proposed. The correc...
详细信息
ISBN:
(纸本)9781467320658
In this paper, a novel design of an Extremum-Seeking Controller (ESC) based on Sliding Mode Control (SMC) for a class of Single-Input-Single-Output (SISO) uncertain or unknown nonlinear systems is proposed. The corrective term of the proposed observer is used to estimate the uncertain system. Global exact tracking using only output-feedback is proven with a tanh periodic switching function. The tanh periodic switching function is shown to provide a smaller vicinity of the desired extremum point compared to the traditional sgn periodic switching function. Numerical simulation results are presented to demonstrate the advantages and effectiveness of the proposed control strategy.
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