Presentation
Low cost implementation of a biomimetic approach for UAV health management
2016 American Control Conference (ACC)
(2016)
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.
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
Publication Date
July 1, 2016
Location
Boston, MA
DOI
https://doi.org/10.1109/ACC.2016.7525255
Citation Information
Diego Garcia, Hever Moncayo, Andres Perez and Chirag Jain. "Low cost implementation of a biomimetic approach for UAV health management" 2016 American Control Conference (ACC) (2016) Available at: http://works.bepress.com/hever_moncayo/77/