State Estimation and Control for Low-cost Unmanned Aerial Vehicles

239 Pages·2015·7.12 MB·English

by  Chingiz Hajiyev

Chingiz Hajiyev · Halil Ersin Soken
Sıtkı Yenal Vural
State Estimation
and Control
for Low-cost
Unmanned
Aerial Vehicles
State Estimation and Control for Low-cost
Unmanned Aerial Vehicles

Chingiz Hajiyev • Halil Ersin Soken
Sıtkı Yenal Vural
State Estimation and Control
for Low-cost Unmanned
Aerial Vehicles
123
ChingizHajiyev HalilErsinSoken
FacultyofAeronauticsandAstronautics InstituteofSpaceandAstronauticalScience
IstanbulTechnicalUniversity (ISAS)
Istanbul,Turkey JapanAerospaceExploration
Agency(JAXA)
SıtkıYenalVural Sagamihara,Kanagawa,Japan
FacultyofAeronauticsandAstronautics
IstanbulTechnicalUniversity
Istanbul,Turkey
ISBN978-3-319-16416-8 ISBN978-3-319-16417-5 (eBook)
DOI10.1007/978-3-319-16417-5
LibraryofCongressControlNumber:2015941902
SpringerChamHeidelbergNewYorkDordrechtLondon
©SpringerInternationalPublishingSwitzerland2015
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Preface
Over time, technological developments in aeronautics have a bigger impact in
all aspects of human life and, surely, unmanned aerial vehicles (UAVs) play an
importantroleinthisprocess.
The main aim of this book is to make a contribution to progress in UAV
technology,especially in the sense of autonomouscontrol, and thatis achievedin
three stages: fault-free estimation of UAV parameters by robust adaptive Kalman
filters,usingfaultdetectionandisolationfortheintegrationofUAVflightdata,and
controllingtheUAVbymeansofclassicalorfuzzycontrollers.
Thestateestimation,control,andfaultdetectionandisolationmethodsforlow-
costUAVsareillustratedbyexamplesandcomputersimulationsperformedviathe
softwarepackageMATLAB.
Mostofthebookisoriginalandcontributedbytheauthors.
This book is a research monographin which the theory and application of the
proposedmethodshavebeendiscussedtogether.
Thismonographiscomposedof11chapters,asfollows:
Chapter1istheintroductiontothebook.AnintroductiontoUAVsalongwith
abriefhistoryisgiven.ItisdiscussedwhyUAVsareimportantandwhataretheir
advantagesoverconventionalmannedplanes
In Chap. 2, equations of motion for UAVs are given. The coordinate systems,
derivationofrigidbodyequationsofmotion,andlinearizedequationsofmotionfor
UAVsarepresented.Thestate-spacerepresentationofthelinearizedsystemisalso
includedinthischapter.
In Chap. 3, navigation systems for UAVs are given. In this context, inertial
navigation, air data and satellite radio navigation systems, Doppler and altimeter
radars,andmagneticsensorsaredescribed.Moreover,measurementfaultsforthese
systems, when they are used in UAVs, are investigated and details for the fault
modelingarepresented.
InChap.4,theoptimallinearKalmanfilter(OKF)algorithmispresented.The
OKFforUAVstateestimationisshown.ThestabilityoftheOKFandnecessityof
Kalmanfilteradaptationarediscussed.
v
vi Preface
InChap.5,arobustKalmanfilter(RKF)withfiltergaincorrectionforthecase
ofmeasurementmalfunctionsisintroduced.Bytheuseofadefinedvariablenamed
themeasurementnoisescalefactor(MNSF),thefaultymeasurementsaretakeninto
the consideration with a small weight and the estimations are corrected without
affectingthecharacteristicsoftheaccuratemeasurements.TheRKFalgorithmswith
singleandmultipleMNSFs(R-adaptationprocedure)areproposedandappliedfor
the state estimation process of the UAV platform in the presence of measurement
faults. The results of these algorithms are compared for different types of sensor
faultsandrecommendationsabouttheirutilizationaregiven.Stability analysisfor
proposedRKFsisalsoincluded.
InChap.6,theprocessnoisecovarianceadaptationprocedure(Q-adaptation)for
UAV state estimation is introducedand the robustadaptiveKalman filter (RAKF)
algorithmwiththeR-andQ-adaptationsagainstsensor/actuatorfailuresisproposed.
Thus,thefilterstandsrobustagainstthefaultsand,evenincaseofsensor/actuator
failure, continues providing accurate estimation results. The performance of the
proposed RAKF is investigated by simulations for the state estimation procedure
of UAVs. The presented RAKF ensures that the parameter estimation system of
the UAV is not influenced by sensor/actuator failures and, therefore, autonomous
missionscanbeperformedsuccessfully.
InChap.7,GlobalPositioningSystem(GPS)/InertialNavigationSystem(INS)
measurements,whichhavehighaccuracy,andairdatasystem(ADS)measurements,
which have low accuracy but high frequency, are integrated using the Kalman
filtering technique in order to obtain high-accuracy measurement data at high
frequency. It is shown that the designed system, which is based on the indirect
Kalman filtering technique, is successful in finding the wind speed data using the
known error dynamics of the system and the determined statistical values. The
faultdetectionandisolation(FDI)algorithmsaredevelopedbyusingtheproposed
system and diagnostictests are performedin orderto evaluate the performanceof
thesystemunderdifferentsensormeasurementfaultscenarios.Forfusingthedata
comingfromdifferentmeasurementsets,afederatedKalmanfilterisused.Thebest
dataareproducedbyusingtheFDIalgorithmsandleavingthefaultydataoutbefore
fusingwiththefederatedfilter.
The stability of UAVs is investigated in Chap. 8 for the purpose of controller
design. The transfer functionsfor the longitudinaland lateral stability analysis of
UAVsareintroducedanddiscussedinthischapter.
The design procedure for the flight control system of UAVs based on the
classical controllers is presented in Chap. 9. Classical control methods, such as
theproportional-integral-derivative(PID)controllers,areinvestigated.Itisobserved
thatthePIDcontrollerresponsesaregoodatcontrollingthelongitudinalandlateral
flightdynamicsofsmallUAVs.
InChap.10,anoptimalcontrollerisdesignedusingthelinearquadraticregulator
(LQR)method.Inordertobetterevaluatetheeffectofdisturbancesontheobtained
measurements, a Kalman filter is used. Initially, the controller is tested for a case
where disturbances are absent. Then, a Kalman filter is designed and the system
Preface vii
underdisturbancesistestedwiththedesignedcontrollerandfilter.Theresultsreveal
theeffectivenessoftheKalmanfilterandLQRcontroller.
In Chap.11,a fuzzycontrollerforUAVflightdynamicsis investigated.Fuzzy
logic-based longitudinal and lateral controllers are designed. The fuzzy logic
controller works well, even though no optimization technique is used to optimize
thesystem,anditwasdesignedwithoutdynamicmodelknowledge.Infuzzylogic
controllers, a careful arrangement of membership functions may lead to better
results. The stability of the fuzzy controllers is investigated. The effectiveness of
differentcontrolmethodsforUAVflightcontroliscomparedinthischapter.
This monograph is useful for both researchers in academia and professional
engineers in the aerospace industry. It is also an important reference book for
graduateresearchstudents.Moreover,Chaps.2,3,4,8,9,and10canalsobeused
byundergraduatestudentsstudyingaerospaceandcontrolandsystemsengineering.
WewouldliketothankMr.VolkanKarginforhiscontributiontothesimulations
giveninChap.7andM.Sc.studentDemetCildenwhohelpeduswiththecorrections
andformattingofthebook.
We hopethatthisbookwill be helpfulto researchers,students,ourcolleagues,
andallthereaders.
Istanbul,Turkey ChingizHajiyev
January,2015 HalilErsinSoken
SıtkıYenalVural

Contents
1 IntroductiontoUnmannedAerialVehicles.............................. 1
1.1 Introduction........................................................... 1
1.2 UAVTypesandApplications........................................ 4
1.3 ABriefHistoryofUAVs............................................. 6
1.4 Conclusion............................................................ 7
References.................................................................... 7
2 EquationsofMotionforanUnmannedAerialVehicle................. 9
2.1 RigidBodyEquationsofMotion.................................... 9
2.1.1 CoordinateSystems ........................................ 9
2.1.2 DerivationofRigidBodyEquationsofMotion........... 10
2.2 OrientationandPositionofanAircraft.............................. 15
2.3 SmallPerturbationTheory........................................... 16
2.4 LinearizedEquationsofMotion..................................... 18
2.4.1 EquationsinGeneral ....................................... 18
2.4.2 CharacteristicsoftheChosenZagiUAV.................. 19
2.4.3 LinearizedEquationsofMotionfortheZagiUAV ....... 20
References.................................................................... 23
3 NavigationSystemsforUnmannedAerialVehicles..................... 25
3.1 TwoMainCategoriesinNavigation................................. 25
3.2 InertialNavigation ................................................... 26
3.3 InertialMeasurementUnit........................................... 27
3.3.1 RateGyros.................................................. 28
3.3.2 Accelerometers ............................................. 29
3.4 AirDataSystem...................................................... 30
3.4.1 AirDataMeasurements.................................... 31
3.4.2 DerivationoftheTrueAirspeedComponents............. 33
3.5 SurfaceRadar......................................................... 33
ix