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Alvaro Vargas-Clara
Arizona State University
Computer Science & IT Electrical & Electronics Engineering

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Journal : International Journal of Electrical and Computer Engineering

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Dynamics and Control of a Stop Rotor Unmanned Aerial Vehicle Alvaro Vargas-Clara; Sangram Redkar
International Journal of Electrical and Computer Engineering (IJECE) Vol 2, No 5: October 2012
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (618.096 KB)

Abstract

The objective of this work was to develop a variety of control systems for a Stop-Rotor Unmanned Aerial Vehicle (UAV) in hover flight. The Stop-Rotor UAV has capabilities of Vertical Take-off and Landing (VTOL) like a helicopter and can convert from a helicopter mode to an airplane mode in mid-flight. Thus, this UAV can hover as a helicopter and achieve high mission range of an airplane. The stop-rotor concept implies that in mid-flight the thrust generating helicopter rotor stops and rotates the blades into airplane wings. The thrust in airplane mode is then provided by a pusher propeller. The aircraft configuration presents unique challenges in flight dynamics, modeling and control. In this paper a mathematical model is derived, and then the model is simulated with non-zero initial conditions. Various control systems are then implemented. The control techniques utilized are a linear control, optimal linear control and a nonlinear control with the objective of stabilizing the UAV in hover flight. Settling time and control effort are then compared across the different control systems.DOI:http://dx.doi.org/10.11591/ijece.v2i5.1589
Guided Navigation Control of an Unmanned Ground Vehicle using Global Positioning Systems and Inertial Navigation Systems Pooja Velaskar; Alvaro Vargas-Clara; Osama Jameel; Sangram Redkar
International Journal of Electrical and Computer Engineering (IJECE) Vol 4, No 3: June 2014
Publisher : Institute of Advanced Engineering and Science

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Abstract

This paper demonstrates the use of Global Positioning System (GPS) and Inertial Navigation System (INS) in order to develop an Unmanned Ground Vehicle (UGV) devised to perform a wide variety of outdoor tasks. There are many applications for autonomous UGVs such as tactical and surveillance applications, exploration of areas inaccessible by humans. Capable to navigate to a specific location, and control their motion depending on their surroundings without human intervention. The inertial navigation system makes use of Inertial Measurement Units (IMUs) to measure the change to the UGV's positional parameters, orientation and speed which are continuously monitored and updated. With the advent of GPS, and the positional data from the inertial system the positional information is computed leading to a more accurate control of the UGV; which otherwise suffers from integration drift that occurs with the implementation of inertial systems alone. Autonomous control of the UGV is implemented by coupling GPS sensor and Mission Planner, a tool to map waypoints from Google Maps. Furthermore, system stability and ideal PID (Proportional, Integral and Derivative) values are determined using bicycle modeling analysis to achieve better estimates and control of the UGV.DOI:http://dx.doi.org/10.11591/ijece.v4i3.5183
Co-Authors Osama Jameel Pooja Velaskar Sangram Redkar