Reconfigurable Intelligent Control Architecture of a Small-Scale Unmanned Helicopter
Publication: Journal of Aerospace Engineering
Volume 27, Issue 4
Abstract
Over the past decades, substantial research has been undertaken in the design of intelligent architecture for the rotorcraft-based unmanned aerial vehicles (RUAV). Designing intelligent architecture is a challenging problem because future RUAVs are utterly autonomous and their performance is comparable with that of manned vehicles. This paper deals with the design and development of a layered architectural framework that addresses the issue arising in autonomous intelligent control systems. The architecture consists of two layers. The high-level layer is occupied by planning routines. In this level, the waypoints and mission tasks from the command center are executed. The function of the low-level layer is to stabilize the flight and follow the commanded trajectory from the upper layer. These layers integrate the following functionalities: (1) waypoint navigation and control, which includes auto-landing; (2) obstacle detection and avoidance; (3) fault detection and identification; and (4) system reconfiguration in two levels (high-level and low-level controllers). The resulting layered architecture is discussed in detail. Moreover, the novel fault detection and identification method is developed to address multiplicative and additive faults. A testing environment for RUAV is developed to validate this architecture. Complete setup is carried out using an embedded board run under a real-time operating system. The algorithms are tested and evaluated using hardware-in-the-loop simulation (HILS). The simulation result proves that the proposed architecture demonstrates the desired efficiency and reliability.
Get full access to this article
View all available purchase options and get full access to this article.
Acknowledgments
This paper was supported by Konkuk University in 2012.
References
Agrawal, P. (1985). “RAFT: A recursive algorithm for fault tolerance.” Proc., Int. Conf. on Parallel Processing, St. Charles, IL.
Bateman, F., Noura, H., and Ouladsine, M. (2007). “Actuators fault diagnosis and tolerant control for an unmanned aerial vehicle.” 16th IEEE Int. Conf. on Control Applications, Singapore.
Boskovic, J. D., and Mehra, R. K. (1998). “A multiple model-based reconfigurable flight control system design control.” Proc., 37th IEEE Conf. on Decision and Control, Tampa, FL, Vol. 4, 4503–4508.
Boskovic, J. D., Prasanth, R., and Mehra, R. K. (2002). “A multilayered control architecture for unmanned aerial vehicle.” Proc., American Control Conf., Anchorage, AK, Vol. 3, 1825–1830.
Budiyono, A., Putro, I. E., Yoon, K., Raharja, G. B., and Kim, G. B. (2010). “Real-time hardware simulation of a small-scale helicopter dynamics.” Aircr. Eng. Aerosp. Technol. Int. J., 82(6), 360–371.
Clements, N. S. (2003). “Fault tolerant control of complex dynamical systems.” Ph.D. thesis, Georgia Institute of Technology, School of Electrical and Computer Engineering, Atlanta, GA.
Corke, P., Hrabar, P., Peterson, R., Rus, D., Saripalli, S., and Sukhatme, G. (2004). “Autonomous deployment and repair of a sensor network using an unmanned aerial vehicle.” Proc., IEEE Int. Conf. on Robotics and Automation (ICRA), New Orleans, Vol. 4, 3602–3608.
Craig, W. R. (1987). “Flocks, herds and schools: A distributed behavioral model.” ACM SIGGRAPH ’87 Proc., 14th Annual Conf. on Computer Graphics and Interactive Techniques, 25–34.
Friedland, B. (1982). “Maximum likelihood failure detection of aircraft flight control sensors.” J. Guid. Contr. Dyn., 5(5), 498–503.
Gao, Z., and Antsaklis, J. (1989). “On the stability of the pseudo-inverse method for reconfigurable control systems.” Aerospace and Electronics Conf., Dayton, OH, 333–337.
Heredia, G., Caballero, F., Maza, I, Merino, L., Viguria, A., and Ollero, A. (2009). “Multi-unmanned aerial vehicle (UAV) cooperative fault detection employing differential global positioning (DGPS), inertial and vision sensors.” Sensors, 9(9), 7566–7579.
Isermann, R., and Balle, P. (1997). “Trends in the application of model-based fault detection and diagnosis of technical processes.” Contr. Eng. Pract., 5(5), 709–719.
Kaliappan, V. K., Yong, H., Min, D., and Budiyono, A. (2011a). “Behavior-based decentralized approach for cooperative control of a multiple small scale unmanned helicopter.” Proc., 11th Int. Conf. on Intelligent Systems Design and Applications, Córdoba, Spain, 195–201.
Kaliappan, V. K., Yong, H., Min, D., and Budiyono, A. (2011b). “Fault tolerant controller design for component faults of a small scale unmanned aerial vehicle.” Proc., 8th Int. Conf. on Ubiquitous Robots and Ambient Intelligence, Incheon, Korea, 79–84.
Kaliappan, V. K., Yong, H., Min, D., and Budiyono, A. (2011c). “Linear velocity based predictive control design and experiment for pursuit-evasion of a multiple small scale unmanned helicopter.” Convergence and Hybrid Information Technology, Lecture Notes in Computer Science, Vol. 6935, Springer, Berlin, 520–529.
Kaliappan, V. K., Yong, H., Min, D., and Budiyono, A. (2011d). “Multiplicative fault tolerant controller design for sensor faults of a small scale unmanned aerial vehicle.” Proc., Int. Conf. on Intelligent Unmanned Systems, Chiba, Japan, 23–27.
Kim, S. P., Budiyono, A., Lee, J. H., Kim, D. H., and Yoon, K. J. (2010). “Control system design and testing for a small-scale autonomous helicopter.” Aircr. Eng. Aerosp. Technol. Int. J., 82(6), 353–359.
Kim, S. P., Lee, J. H., Kim, B.-J., Kwon, H. J., Kim, E. T., and Ahn, L.-K. (2006). “Automatic landing control law for unmanned helicopter using Lyapunov approach.” 25th Digital Avionics Systems Conf., Portland, OR, 1–8.
Kumar, V., Yong, H., and Min, D. (2010). “Auto landing control for small scale unmanned helicopter with flight gear and HILS.” 5th Int. Conf. on Computer Sciences and Convergence Information Technology, Seoul, Korea, 676–681.
Lacroix, S., Jung, I. K., and Mallet, A. (2002). “Digital elevation map building from low altitude stereo imagery.” 9th Int. Symp. on Intelligence Robotic Systems, Vol. 41(2–3), 119–127.
Magrabi, P. W., and Gibbens, S. M. (2000). “Decentralised fault detection and diagnosis in navigation systems for unmanned aerial vehicles.” IEEE Position Location and Navigation Symp., San Diego, CA.
Maybeck, P. S., and Pogoda, D. L. (1989). “Multiple model adaptive controller for the STOL F-15 with sensor/actuator failures.” Proc., 28th IEEE Conf. on Decision and Control, Tampa, FL, Vol. 2, 1566–1572.
Merino, L., Caballero, L., Martinez-de Dios, J. R., Ferruz, J., Ollero, A. (2006). “A cooperative perception system for multiple UAVs: Application to automatic detection of forest fires.” J. Field Robot., 23(3–4), 165–184.
Napolitano, M., An, Y., and Seanor, B. (2000). “A fault tolerant flight control system for sensor and actuator failures using neural networks.” Aircraft Des., 3(2), 103–128.
Ollero, A., and Merino, L. (2004). “Control and perception techniques for aerial robotics.” Annu. Rev. Contr., 28(2), 167–178.
Patton, R. J., and Chen, J. (1997). “Observer-based fault detection and isolation: Robustness and applications.” Contr. Eng. Pract., 5(5), 671–682.
Pham, H., and Upadhyaya, S. J. (1991). “Optimal design of fault-tolerant distributed systems based on a recursive algorithm.” IEEE Trans. Reliab., 40(3), 375–379.
Toon, J. (2002). “Making UAV’s smarter: Recent test demonstrates in-flight ability to reconfigure low-level control system autonomously.” Georgia Institute of Technology Research News, Atlanta, GA.
Information & Authors
Information
Published In
Copyright
© 2014 American Society of Civil Engineers.
History
Received: Feb 4, 2011
Accepted: Nov 7, 2012
Published online: Nov 9, 2012
Published in print: Jul 1, 2014
Discussion open until: Sep 8, 2014
Authors
Metrics & Citations
Metrics
Citations
Download citation
If you have the appropriate software installed, you can download article citation data to the citation manager of your choice. Simply select your manager software from the list below and click Download.