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Mathematical model derivation of an unmanned circulation control aerial vehicle UC2AV

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Abstract

This paper presents a system identification method to derive accurate mathematical models for an unmanned circulation control aerial vehicle (UC2AV) that account for the effects of circulation control (CC) on the vehicle dynamics. The X-plane flight simulator and the CIFER system identification software are utilized to first derive simulation models to verify and validate the proposed system identification methodology. This is followed by flight tests to derive mathematical models and stability derivatives for the aircraft with CC-on and CC-off. Flight tests indicate a nose down pitching moment effect induced by CC, which in turn alter the UAV trim values and dynamics. Analysis of the two sets of mathematical models reveal that CC changes the longitudinal trim values and improves the lateral maneuverability of the UAV. Verification experiments indicate an acceptable match between the derived models and UAV dynamics by calculating root mean square (RMS) error values and by quantifying the model predictive ability through calculating the Theil inequality coefficient (TIC).

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Authors and Affiliations

  1. University of Denver, Denver, CO, 80210, U.S.A.

    Mohammed Agha, Matthew J. Rutherford & Kimon P. Valavanis

  2. University of Alabama Huntsville, Huntsville, AL, 35899, U.S.A.

    Konstantinos Kanistras

Authors
  1. Mohammed Agha
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  2. Konstantinos Kanistras
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  3. Matthew J. Rutherford
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  4. Kimon P. Valavanis
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Corresponding author

Correspondence to Mohammed Agha.

Additional information

This research was partially supported by the National Science Foundation (No. CMMI/DCSD-1728454).

Mohammed AGHA received an M.Sc. degree in Mechatronics Systems Engineering and a B.Sc. in Electrical Engineering from the University of Denver. His research interests are system identification and simulation testing methods of unmanned vehicles. His research focus has been determining the affects of circulation control on the dynamics of UAVs.

Konstantinos KANISTRAS is an Assistant Professor at the Mechanical and Aerospace Department at the University of Alabama in Huntsville. His research focuses on aircraft performance and active flow control. His work looks to develop a fundamental understanding of the physics of the flow, the underlying flow structures and more effectively apply flow control techniques. Dr. Kanistras received his Ph.D. degree in Electrical and Computer Engineering from the University of Denver in 2016. He received his M.Sc. degree in Aerospace Engineering from the University of Bath, U.K. in 2008 and his B.Sc. degree in Physics from the University of Patras, Greece. He is an AIAA member since 2012.

Matthew J. RUTHERFORD is an Associate Professor in the Department of Computer Science with a joint appointment in the Department of Electrical and Computer Engineering. He is also Deputy Director of the DU Unmanned Systems Research Institute (DU2SRI). His research portfolio includes: the development of advanced controls and communication mechanisms for autonomous aerial and ground robots; applications of real-time computer vision to robotics problems using GPU-based parallel processing; testing and dynamic evaluation of embedded, real-time systems; development of complex mechatronic systems (mechanical, electrical, and software); the development of software techniques to reduce the amount of energy being consumed by hardware; and development of a high-precision propulsion system for underwater robots.

Kimon P. VALAVANIS is a Professor, Department of Electrical and Computer Engineering, with a joint appointment in the Department of Computer Science. He is also Director of the DU Unmanned Systems Research Institute (DU2SRI). He holds a Guest Professor appointment in the Department of Telecommunications, Faculty of Electrical Engineering and Computing at the University of Zagreb, Croatia. His research interests span the areas of intelligent control, robotics and automation, and distributed intelligent systems, focusing on: integrated control and diagnostics of unmanned systems; modeling and formation control of cooperative robot teams; navigation/control of unmanned aerial vehicles; modeling, design and development of complex mechatronic systems; and design of the next generation of unmanned systems; mathematical theories for intelligent machines. He is Fellow of the American Association for the Advancement of Science (AAAS), Senior Member of IEEE, Editor-in-Chief of the Journal of Intelligent and Robotic Systems (Springer), and Fulbright Scholar.

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Agha, M., Kanistras, K., Rutherford, M.J. et al. Mathematical model derivation of an unmanned circulation control aerial vehicle UC2AV. Control Theory Technol. 18, 1–18 (2020). https://doi.org/10.1007/s11768-020-8151-4

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  • DOI: https://doi.org/10.1007/s11768-020-8151-4

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