TY - GEN
T1 - Experimental modeling and adaptive control of an unmanned aerial vehicle as roadside assistance
AU - Bayezit, Ismail
AU - Inalhan, Gokhan
AU - Fidan, Baris
AU - Huissoon, Jan P.
PY - 2013
Y1 - 2013
N2 - Small scale fixed-wing unmanned aerial vehicles (UAV) are an emerging technology, and have been widely used in many many manned/unmanned and cooperative operations as research testbeds. This paper describes the realistic modeling and adaptive autonomous control of a small scale UAV that serves as a dynamic roadside agent to provide critical roadside assistance and manage highway traffic. Additionally, the importance and implementation of dynamic roadside operations to optimize platoon acceleration and avoid rush hour traffic congestion are discussed. The steady-state flight trim and model-decomposition of 6 Degree-of-Freedom (DOF) UAV model using small perturbation theory are provided. Finally, the implementation of an autonomous adaptive control approach is given which is advantageous over other linear based control approaches for small-scale UAVs.
AB - Small scale fixed-wing unmanned aerial vehicles (UAV) are an emerging technology, and have been widely used in many many manned/unmanned and cooperative operations as research testbeds. This paper describes the realistic modeling and adaptive autonomous control of a small scale UAV that serves as a dynamic roadside agent to provide critical roadside assistance and manage highway traffic. Additionally, the importance and implementation of dynamic roadside operations to optimize platoon acceleration and avoid rush hour traffic congestion are discussed. The steady-state flight trim and model-decomposition of 6 Degree-of-Freedom (DOF) UAV model using small perturbation theory are provided. Finally, the implementation of an autonomous adaptive control approach is given which is advantageous over other linear based control approaches for small-scale UAVs.
UR - http://www.scopus.com/inward/record.url?scp=84894347567&partnerID=8YFLogxK
U2 - 10.1109/ITSC.2013.6728487
DO - 10.1109/ITSC.2013.6728487
M3 - Conference contribution
AN - SCOPUS:84894347567
SN - 9781479929146
T3 - IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC
SP - 1784
EP - 1790
BT - 2013 16th International IEEE Conference on Intelligent Transportation Systems
T2 - 2013 16th International IEEE Conference on Intelligent Transportation Systems: Intelligent Transportation Systems for All Modes, ITSC 2013
Y2 - 6 October 2013 through 9 October 2013
ER -
