Swarming Unmanned Aerial Vehicles: Concept Development and Explementation, A State of the Art Review on Flight and Mission Control

Abstract : This technical report provides an overview of the state of the art of control system design for swarming UAVs. An overview of trends and future needs for military applications of UAVs is presented first. Linear controller design for aircrafts is then reviewed in the context of UAV systems. Comparative analysis of flight, collision avoidance and mission control approaches for swarming UAVs is provided. Then, advanced nonlinear UAV control designs including several feedback linearization techniques, Neural Network implementation, Fuzzy Logic application incorporated with Linear and Nonlinear Model Predictive Control for swarming UAVs are analysed. Finally, the importance of Hardware in the Loop Simulation is discussed. Simulation and experimental validation results will be presented in subsequent reports.

[1]  Charles E. Dickerson,et al.  Coalition Integrated Air Picture Architecture , 2002 .

[2]  John D'Azzo,et al.  Tight Formation Flight Control , 2001 .

[3]  G. G. Stokes.  "J." , 1890, The New Yale Book of Quotations.

[4]  J. K. Hedrick,et al.  Constant Spacing Strategies for Platooning in Automated Highway Systems , 1999 .

[5]  Malcolm J. Abzug.  Computational Flight Dynamics , 1998 .

[6]  Dan S. Necsulescu,et al.  Extended Kalman filter-based sensor fusion for operational space control of a robot arm , 2002, IEEE Trans. Instrum. Meas..

[7]  Bamberger,et al.  An Architecture for Multi-Vehicle Autonomy with Small UAVS , 2003 .

[8]  In-Joong Ha,et al.  Nonlinear autopilot for high maneuverability of bank-to-turn missiles , 2001 .

[9]  J. de Carufel,et al.  Model predictive control for impact-contact motion of a manipulator , 1995, Proceedings 1995 Canadian Conference on Electrical and Computer Engineering.

[10]  Gregory E. Chamitoff,et al.  Autonomous Maneuver Tracking for Self-Piloted Vehicles , 1999 .

[11]  Vikram Kapila,et al.  Adaptive Nonlinear Control of Multiple Spacecraft Formation Flying , 2000 .

[12]  Valluru Rao,et al.  C++ neural networks and fuzzy logic , 1993 .

[13]  Dan S. Necsulescu,et al.  Analysis of implementation issues for haptic interfaces using HIL concept , 2002, IEEE International Workshop HAVE Haptic Virtual Environments and Their.

[14]  Sahjendra N. Singh,et al.  Nonlinear control of multiple UAVS in close-coupled formation flight , 2000 .

[15]  C. Canudas de Wit,et al.  Investigation on The Efficiency of Acceleration Feedback in Servomechanism With Friction , 1997 .

[16]  Jan M. Maciejowski,et al.  Predictive control : with constraints , 2002 .

[17]  E. Fernandez-Gaucherand,et al.  Cooperative control for multiple autonomous UAV's searching for targets , 2002, Proceedings of the 41st IEEE Conference on Decision and Control, 2002..

[18]  François E. Cellier,et al.  Artificial Neural Networks and Genetic Algorithms , 1991 .

[19]  H. Van Dyke Parunak,et al.  Distinguishing Environmental and Agent Dynamics: A Case Study in Abstraction and Alternate Modeling Technologies , 2000, ESAW.

[20]  Ruxandra Botez,et al.  Optimal control laws for gust alleviation , 2001 .

[21]  James S. Farrior,et al.  Guidance And Control , 1962 .

[22]  Ronald Soeterboek,et al.  Predictive Control: A Unified Approach , 1992 .

[23]  T. Ray Persing,et al.  Development of Integrated Aircraft Weapon System Models in MATLAB/Simulink (or, How I Learned to Stop Worrying and Love the Sim) , 2002 .

[24]  Daniel E. Koditschek,et al.  Exact robot navigation using artificial potential functions , 1992, IEEE Trans. Robotics Autom..

[25]  Dan Lluch,et al.  Building Multi-UAV Simulation Methods , 2002 .

[26]  Bruce H. Krogh,et al.  Distributed model predictive control , 2001, Proceedings of the 2001 American Control Conference. (Cat. No.01CH37148).

[27]  Debasish Ghose,et al.  Radar-assisted collision avoidance/guidance strategy for planar flight , 2001 .

[28]  Claire J. Tomlin,et al.  Autopilot Design for the Stanford DragonFly UAV: Validation through Hardware-in-the-Loop Simulation* , 2001 .

[29]  Marios M. Polycarpou,et al.  COOPERATIVE PATH-PLANNING FOR AUTONOMOUS VEHICLES USING DYNAMIC PROGRAMMING , 2002 .

[30]  Dan S. Necsulescu,et al.  Applied Virtual Instrumentation , 2000 .

[31]  S. Kalaycioglu,et al.  DYNAMICS CONTROL OF AN AUTONOMOUS WHEELED GROUND VEHICLE , 1993 .

[32]  Stephen Piche,et al.  Nonlinear model predictive control using neural networks , 2000 .

[33]  Ignacy Duleba,et al.  3D Local Trajectory Planner for UAV , 2000, J. Intell. Robotic Syst..

[34]  William McEneaney,et al.  CONTROL FOR UAV OPERATIONS UNDER IMPERFECT INFORMATION , 2002 .

[35]  Chih-Min Lin,et al.  Fuzzy-logic-based CLOS guidance law design , 2001 .

[36]  E. H. J Pallett,et al.  Automatic Flight Control , 1979 .

[37]  Vikram Kapila,et al.  Spacecraft Formation Flying: Dynamics and Control , 2000 .

[38]  H. Van Dyke Parunak,et al.  Mechanisms and Military Applications for Synthetic Pheromones , 2001 .

[39]  Bumsoo Kim,et al.  Autonomous Mobile Vehicles For Motion On Uneven And Inclined Surfaces , 1998, Proceedings of the 6th International Conference on Optimization of Electrical and Electronic Equipments.

[40]  Marios M. Polycarpou,et al.  Decentralized Cooperative Search in UAV's Using Opportunistic Learning , 2002 .

[41]  Louis V. Schmidt,et al.  Introduction to Aircraft Flight Dynamics , 1998 .

[42]  Christos G. Cassandras,et al.  A receding horizon approach for solving some cooperative control problems , 2002, Proceedings of the 41st IEEE Conference on Decision and Control, 2002..

[43]  Weiping Li,et al.  Applied Nonlinear Control , 1991 .

[44]  B. Roberts,et al.  A system for obstacle detection during rotorcraft low-altitude flight , 1992, [1992] Proceedings IEEE Workshop on Applications of Computer Vision.

[45]  Robert F. Stengel,et al.  Flight Control Design using Nonlinear Inverse Dynamics , 1986, 1986 American Control Conference.

[46]  Rajeeva Kumar,et al.  Adaptive control of UAVs in close-coupled formation flight , 2000, Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334).

[47]  Frank L. Lewis,et al.  Aircraft Control and Simulation , 1992 .

[48]  Randal W. Beard,et al.  An algorithmic implementation of constrained extremal control for UAVs , 2002 .

[49]  Petros A. Ioannou,et al.  Traffic flow modeling and control using artificial neural networks , 1996 .

[50]  Gary J. Balas,et al.  Robust Dynamic Inversion for Control of Highly Maneuverable Aircraft , 1995 .

[51]  Sebastian Engell,et al.  Model Predictive Control Using Neural Networks [25 Years Ago] , 1995, IEEE Control Systems.

[52]  Bernard Friedland,et al.  Advanced Control System Design , 1996 .

[53]  Kevin M. Passino,et al.  Expert supervision of fuzzy learning systems for fault tolerant aircraft control , 1995 .

[54]  John H. Blakelock,et al.  Automatic control of aircraft and missiles , 1965 .

[55]  John L. Crassidis,et al.  Optimal Variable-Structure Control Tracking of Spacecraft Maneuvers , 1999 .

[56]  George Meyer,et al.  Application of nonlinear transformations to automatic flight control , 1984, Autom..

[57]  Feng Liang.  RAPID DEVELOPMENT OF UAV AUTOPILOT USING MATLAB/SIMULINK , 2002 .

[58]  Song Chong,et al.  Design of a CLOS guidance law via feedback linearization , 1992 .

[59]  Stefen Hui,et al.  Application of feedforward neural networks to dynamical system identification and control , 1993, IEEE Trans. Control. Syst. Technol..

[60]  Andrew G. Sparks,et al.  Spacecraft formation flying: dynamics and control , 1999, Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251).