Safe Control for Spiral Recovery of Unmanned Aerial Vehicle

Rui-Xuan Wei,Chang-Jian Ru

doi:10.1155/2014/983624

Abstract

With unmanned aerial vehicles (UAVs) widely used in both military and civilian fields, many events affecting their safe flying have emerged. That UAV’s entering into the spiral is such a typical safety issue. To solve this safety problem, a novel recovery control approach is proposed. First, the factors of spiral are analyzed. Then, based on control scheduling of state variables and nonlinear dynamic inversion control laws, the spiral recovery controller is designed to accomplish guidance and control of spiral recovery. Finally, the simulation results have illustrated that the proposed control method can ensure the UAV autonomous recovery from spiral effectively.

Highlights

Unmanned aerial vehicles (UAVs), with many unique advantages, have been widely operated in both military and civilian fields [1,2,3,4,5]
Control Law for Spiral Recovery Based on Nonlinear Dynamic Inversion
(c) The response curve of attitude angular rate (d) Flight trajectory of UAV’s spiral recovery this paper to recover from the spiral is the shortest one. This means this method can make the UAV recover from the spiral autonomously

Summary

Introduction

Unmanned aerial vehicles (UAVs), with many unique advantages, have been widely operated in both military and civilian fields [1,2,3,4,5]. Abstract and Applied Analysis to improve the performance of nonlinear systems, several researches have recently proposed some typical stability and vibration control methods, such as fault-tolerant control [14], sliding-mode control [15, 16], feedback control [17,18,19], sampled-data control [20], optimization control [21, 22], and energy-to-peak control [23, 24] The effectiveness of these approaches has been verified, respectively, by different simulations or experiments, but they cannot be directly introduced to solve the control problem of UAV’s spiral recovery.

The Cause Formulation and Analysis of UAV’s Spiral

Controller Design for Spiral Recovery

Simulation Analysis and Verification

Conclusions