AL-TUNE: A Family of Methods to Effectively Tune UAV Controllers in In-flight Conditions

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F21%3A00350994" target="_blank" >RIV/68407700:21230/21:00350994 - isvavai.cz</a>

Result on the web

<a href="https://doi.org/10.1007/s10846-021-01441-y" target="_blank" >https://doi.org/10.1007/s10846-021-01441-y</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1007/s10846-021-01441-y" target="_blank" >10.1007/s10846-021-01441-y</a>

Result language

angličtina

Original language name

AL-TUNE: A Family of Methods to Effectively Tune UAV Controllers in In-flight Conditions

Original language description

In the paper, a family of novel real-time tuning methods for an unmanned aerial vehicle (UAV) altitude controller in in-flight conditions. The methods allow the controller’s gains to be adapted only on the basis of measurements from a basic sensory equipment and by constructing the optimization cost function in an on-line fashion with virtually no impeding computational complexity; in the case of the altitude controller as in this paper for a hexacopter, altitude measurements were used only. The methods are not dependent on the measurement level, and present the approach in a generally applicable form to tuning arbitrary controllers with low number of parameters. Real-world experimental flights, preceded by simulation tests, have shown which method should behave best in a noisy environment when e.g. wind disturbances act on a UAV while it is in autonomous flight. As the methods can potentially be extended to other control loops or controller types, making this a versatile, rapid-tuning tool. It has been shown that a well-tuned controller using the proposed AL-TUNE scheme outperforms controllers that are tuned just to stabilize the system. AL-TUNE provides a new way of using UAVs in terms of adaptivity to changing their dynamic properties and can be deployed rapidly. This enables new applications and extends the usability of fully autonomous UAVs, unlike other tuning methods, which basically require the availability of a UAV model. The core difference with respect to other research from the field is that other authors either use a model of a UAV to optimize the gains analytically or use machine learning techniques, what increases time consumption, whereas the presented methods offer a rapid way to tune controllers, in a reliable way, with deterministic time requirements.

Czech name

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Czech description

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Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

—

OECD FORD branch

20204 - Robotics and automatic control

Project

<a href="/en/project/GA20-10280S" target="_blank" >GA20-10280S: Reliable sensing-driven compact groups of micro aerial robots with adaptive shapes</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2021

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Journal of Intelligent and Robotic Systems

ISSN

0921-0296

e-ISSN

1573-0409

Volume of the periodical

103

Issue of the periodical within the volume

1

Country of publishing house

NL - THE KINGDOM OF THE NETHERLANDS

Number of pages

16

Pages from-to

1-16

UT code for WoS article

000680898200005

EID of the result in the Scopus database

2-s2.0-85112003870