The Experts below are selected from a list of 2430 Experts worldwide ranked by ideXlab platform
Changle Xiang - One of the best experts on this subject based on the ideXlab platform.
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Aerodynamic analysis and control for a novel coaxial Ducted Fan aerial robot in ground effect
International Journal of Advanced Robotic Systems, 2020Co-Authors: Changle Xiang, Wei Fan, Yibo ZhangAbstract:Modeling and control for a novel coaxial Ducted Fan aerial robot in-ground-effect is presented in this article. Based on experiments using the Ducted Fan bench test, the fitting curve of the ground...
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robust adaptive fault tolerant control of a tandem coaxial Ducted Fan aircraft with actuator saturation
Chinese Journal of Aeronautics, 2018Co-Authors: Xiaoliang Wang, Changle Xiang, Homayoun Najjaran, X U BinAbstract:Abstract This paper is concerned with the robust adaptive fault-tolerant control of a tandem coaxial Ducted Fan aircraft under system uncertainty, mismatched disturbance, and actuator saturation. For the proposed aircraft, comprehensive controllability analysis is performed to evaluate the controllability of each state as well as the margin to reject mismatched disturbance without any knowledge of the controller. Mismatched disturbance attenuation is ensured through a structured H-infinity controller tuned by a non-smooth optimization algorithm. Embedded with the H-infinity controller, an adaptive control law is proposed in order to mitigate matched system uncertainty and actuator fault. Input saturation is also considered by the modified reference model. Numerical simulation of the novel Ducted Fan aircraft is provided to illustrate the effectiveness of the proposed method. The simulation results reveal that the proposed adaptive controller achieves better transient response and more robust performance than classic Model Reference Adaptive Control (MRAC) method, even with serious actuator saturation.
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Robust adaptive fault-tolerant control of a tandem coaxial Ducted Fan aircraft with actuator saturation
Elsevier, 2018Co-Authors: Xiaoliang Wang, Changle Xiang, Homayoun NajjaranAbstract:This paper is concerned with the robust adaptive fault-tolerant control of a tandem coaxial Ducted Fan aircraft under system uncertainty, mismatched disturbance, and actuator saturation. For the proposed aircraft, comprehensive controllability analysis is performed to evaluate the controllability of each state as well as the margin to reject mismatched disturbance without any knowledge of the controller. Mismatched disturbance attenuation is ensured through a structured H-infinity controller tuned by a non-smooth optimization algorithm. Embedded with the H-infinity controller, an adaptive control law is proposed in order to mitigate matched system uncertainty and actuator fault. Input saturation is also considered by the modified reference model. Numerical simulation of the novel Ducted Fan aircraft is provided to illustrate the effectiveness of the proposed method. The simulation results reveal that the proposed adaptive controller achieves better transient response and more robust performance than classic Model Reference Adaptive Control (MRAC) method, even with serious actuator saturation. Keywords: Comprehensive controllability, Ducted Fan aircraft, Fault-tolerant, Input saturation, Robust adaptive contro
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Modeling and simulation analysis of an unmanned tandem Ducted Fan vehicle with tilting system
2015 International Conference on Unmanned Aircraft Systems (ICUAS), 2015Co-Authors: Changle Xiang, Wei Fan, Hui Liu, Nan HuangAbstract:Comprehensive study on control stability analysis before controller design is an indispensable important step for any flight system. In this paper, frequency modal responses and relative input-output controllability are analyzed quantitatively to provide valid instruction for structure improvement. In this project, tilting electric Ducted Fan (EDF) system is devised for an unmanned tandem Ducted Fan vehicle to improve the stability and controllability over wind disturbances. Forces and moments of the vehicle are investigated by comprehensive nonlinear modeling. Static thrust experiment has been done for more accurate parameters. Different reference speed of EDFs is considered and studied to evaluate the controllability of different channels.
Kiyoshi Ioi - One of the best experts on this subject based on the ideXlab platform.
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Evaluation of quad Ducted‐Fan helicopter
International Journal of Intelligent Unmanned Systems, 2013Co-Authors: Masafumi Miwa, Shinji Uemura, Yasuyuki Ishihara, Akitaka Imamura, Joon-hwan Shim, Kiyoshi IoiAbstract:Purpose – With the purpose of clearing up the risk to rotor blades, this paper develops a quad Ducted‐Fan helicopter using four Ducted‐Fans instead of four rotor blades in a quad rotor helicopter.Design/methodology/approach – Auto hovering test, auto cruise test, and altitude control simulations were conDucted to estimate the flight performance of the quad Ducted‐Fan helicopter.Findings – Flight performance of the test quad Ducted‐Fan helicopter is almost same as a commercial quad rotor helicopter, and it succeeds to decrease the risk to the rotor blade. However, endurance is shorter than that of the quad rotor helicopter, because of the Ducted‐Fan characteristics.Research limitations/implications – The test quad Ducted‐Fan helicopter can fly for about four minutes with two packs of fourcell (16.8 V)‐2200 mAh Lipo batteries, and it needs about 3.3 times as much energy as quad rotor helicopter. The authors will improve the performance of quad Ducted‐Fan helicopter by aerodynamics analysis and design of duc...
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Attitude control of Quad Ducted-Fan Helicopter
2012Co-Authors: Masafumi Miwa, Akitaka Imamura, Joon-hwan Shim, Shinji Uermura, Yasuyuki Iishihara, Kiyoshi IoiAbstract:Recently, R/C single/multi rotor helicopter is used in fields of aerial photography and aerial investigation. But helicopter rotor blades are not covered, and the thrust is generated by high rotational speed. Thus R/C helicopter has a high risk of damage. In this study, we developed a new flying object using 4 Ducted-Fans instead of 4 rotor blades in quad rotor helicopter. We call this as Quad Ducted-Fan Helicopter.
Roberto Naldi - One of the best experts on this subject based on the ideXlab platform.
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A Prototype of Ducted-Fan Aerial Robot with Redundant Control Surfaces
Journal of Intelligent & Robotic Systems, 2014Co-Authors: Roberto Naldi, Lorenzo MarconiAbstract:This work presents the aero-mechanical characteristics and the control design for a prototype of Ducted-Fan aerial robot tailored to achieve advanced robotics operations requiring physical interaction with the environment and high maneuverability. The distinguishing feature of the proposed aerial configuration is the redundant number of aerodynamic surfaces which can be employed by the controller. A control strategy is then proposed in which control allocation techniques exploit this redundancy to improve the accuracy and the efficiency of the aerodynamic forces and torques generation mechanism while simplifying the overall feedback design. The effectiveness of the proposed approach and the performances of the Ducted-Fan prototype have been demonstrated by means of flight experiments.
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design and experimental validation of a nonlinear control law for a Ducted Fan miniature aerial vehicle
Control Engineering Practice, 2010Co-Authors: Roberto Naldi, Lorenzo Marconi, Luca Gentili, Andrea SalaAbstract:In this paper, an experimental activity carried out at the University of Bologna regarding the development of a Ducted-Fan miniature aerial vehicle (MAV) is presented. The Ducted-Fan aerial configuration is potentially interesting in a wide range of applications including, among others, mobile surveillance, video capture, environmental monitoring, relief map survey, etc. In particular, the paper focuses on the design of the nonlinear control law which allows the dynamics of the aircraft to robustly track arbitrary lateral, longitudinal, vertical and heading references, and on the experimental validation obtained by developing a small scale prototype.
Lorenzo Marconi - One of the best experts on this subject based on the ideXlab platform.
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A Prototype of Ducted-Fan Aerial Robot with Redundant Control Surfaces
Journal of Intelligent & Robotic Systems, 2014Co-Authors: Roberto Naldi, Lorenzo MarconiAbstract:This work presents the aero-mechanical characteristics and the control design for a prototype of Ducted-Fan aerial robot tailored to achieve advanced robotics operations requiring physical interaction with the environment and high maneuverability. The distinguishing feature of the proposed aerial configuration is the redundant number of aerodynamic surfaces which can be employed by the controller. A control strategy is then proposed in which control allocation techniques exploit this redundancy to improve the accuracy and the efficiency of the aerodynamic forces and torques generation mechanism while simplifying the overall feedback design. The effectiveness of the proposed approach and the performances of the Ducted-Fan prototype have been demonstrated by means of flight experiments.
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design and experimental validation of a nonlinear control law for a Ducted Fan miniature aerial vehicle
Control Engineering Practice, 2010Co-Authors: Roberto Naldi, Lorenzo Marconi, Luca Gentili, Andrea SalaAbstract:In this paper, an experimental activity carried out at the University of Bologna regarding the development of a Ducted-Fan miniature aerial vehicle (MAV) is presented. The Ducted-Fan aerial configuration is potentially interesting in a wide range of applications including, among others, mobile surveillance, video capture, environmental monitoring, relief map survey, etc. In particular, the paper focuses on the design of the nonlinear control law which allows the dynamics of the aircraft to robustly track arbitrary lateral, longitudinal, vertical and heading references, and on the experimental validation obtained by developing a small scale prototype.
Masafumi Miwa - One of the best experts on this subject based on the ideXlab platform.
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Ducted Fan Flying Object with normal and reverse Ducted Fan units
International Journal of Robotics and Mechatronics, 2014Co-Authors: Masafumi Miwa, Shinya MarubashiAbstract:Recently, UAV such as single / multi rotor helicopter is used in fields of aerial photography and aerial investigation. But rotor blades of UAV thrust device are not covered, and the thrust is generated by high rotational speed. Thus UAV has a high risk of damage. In previous study, we presented inverted pendulum type flying object (DFO1 and DFO2) using Ducted Fans instead of rotor blades. P I- D control was employed for roll, pitch and yaw attitude control. We succeeded to achieve stable hovering by 3-axes (roll, pitch and yaw axis) attitude control. However, small oscillation and small steady state error appears. These oscillation and steady state error can be attributed to Gyro moment of Ducted Fan tilting motion. In this study, we report a newly developed DFO3 equipped with normal and reverse rotation Ducted Fan to cancel Gyro moment effect. We succeeded to achieve stable take off / landing and hovering.
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Evaluation of quad Ducted‐Fan helicopter
International Journal of Intelligent Unmanned Systems, 2013Co-Authors: Masafumi Miwa, Shinji Uemura, Yasuyuki Ishihara, Akitaka Imamura, Joon-hwan Shim, Kiyoshi IoiAbstract:Purpose – With the purpose of clearing up the risk to rotor blades, this paper develops a quad Ducted‐Fan helicopter using four Ducted‐Fans instead of four rotor blades in a quad rotor helicopter.Design/methodology/approach – Auto hovering test, auto cruise test, and altitude control simulations were conDucted to estimate the flight performance of the quad Ducted‐Fan helicopter.Findings – Flight performance of the test quad Ducted‐Fan helicopter is almost same as a commercial quad rotor helicopter, and it succeeds to decrease the risk to the rotor blade. However, endurance is shorter than that of the quad rotor helicopter, because of the Ducted‐Fan characteristics.Research limitations/implications – The test quad Ducted‐Fan helicopter can fly for about four minutes with two packs of fourcell (16.8 V)‐2200 mAh Lipo batteries, and it needs about 3.3 times as much energy as quad rotor helicopter. The authors will improve the performance of quad Ducted‐Fan helicopter by aerodynamics analysis and design of duc...
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Attitude control of Quad Ducted-Fan Helicopter
2012Co-Authors: Masafumi Miwa, Akitaka Imamura, Joon-hwan Shim, Shinji Uermura, Yasuyuki Iishihara, Kiyoshi IoiAbstract:Recently, R/C single/multi rotor helicopter is used in fields of aerial photography and aerial investigation. But helicopter rotor blades are not covered, and the thrust is generated by high rotational speed. Thus R/C helicopter has a high risk of damage. In this study, we developed a new flying object using 4 Ducted-Fans instead of 4 rotor blades in quad rotor helicopter. We call this as Quad Ducted-Fan Helicopter.
