Experimental modeling and adaptive control of an unmanned aerial vehicle as roadside assistance

Ismail Bayezit; Gokhan Inalhan; Baris Fidan; Jan P. Huissoon

doi:10.1109/ITSC.2013.6728487

Experimental modeling and adaptive control of an unmanned aerial vehicle as roadside assistance

Ismail Bayezit
, Gokhan Inalhan
, Baris Fidan
, Jan P. Huissoon

Department of Aeronautical Engineering

University of Waterloo

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

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.

Original language	English
Title of host publication	2013 16th International IEEE Conference on Intelligent Transportation Systems
Subtitle of host publication	Intelligent Transportation Systems for All Modes, ITSC 2013
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1784-1790
Number of pages	7
ISBN (Print)	9781479929146
DOIs	https://doi.org/10.1109/ITSC.2013.6728487
Publication status	Published - 2013
Event	16th International IEEE Conference on Intelligent Transportation Systems: Intelligent Transportation Systems for All Modes, ITSC 2013 - The Hague, Netherlands Duration: 6 Oct 2013 → 9 Oct 2013

Publication series

Name	IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC
ISSN (Print)	2153-0009
ISSN (Electronic)	2153-0017

Conference

Conference	16th International IEEE Conference on Intelligent Transportation Systems: Intelligent Transportation Systems for All Modes, ITSC 2013
Country/Territory	Netherlands
City	The Hague
Period	6/10/13 → 9/10/13

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 11 Sustainable Cities and Communities

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10.1109/ITSC.2013.6728487

Cite this

Bayezit, I., Inalhan, G., Fidan, B., & Huissoon, J. P. (2013). Experimental modeling and adaptive control of an unmanned aerial vehicle as roadside assistance. In 2013 16th International IEEE Conference on Intelligent Transportation Systems: Intelligent Transportation Systems for All Modes, ITSC 2013 (pp. 1784-1790). Article 6728487 (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ITSC.2013.6728487

Bayezit, Ismail ; Inalhan, Gokhan ; Fidan, Baris et al. / Experimental modeling and adaptive control of an unmanned aerial vehicle as roadside assistance. 2013 16th International IEEE Conference on Intelligent Transportation Systems: Intelligent Transportation Systems for All Modes, ITSC 2013. Institute of Electrical and Electronics Engineers Inc., 2013. pp. 1784-1790 (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC).

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title = "Experimental modeling and adaptive control of an unmanned aerial vehicle as roadside assistance",

abstract = "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.",

author = "Ismail Bayezit and Gokhan Inalhan and Baris Fidan and Huissoon, \{Jan P.\}",

year = "2013",

doi = "10.1109/ITSC.2013.6728487",

language = "English",

isbn = "9781479929146",

series = "IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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booktitle = "2013 16th International IEEE Conference on Intelligent Transportation Systems",

address = "United States",

note = "16th International IEEE Conference on Intelligent Transportation Systems: Intelligent Transportation Systems for All Modes, ITSC 2013 ; Conference date: 06-10-2013 Through 09-10-2013",

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Bayezit, I , Inalhan, G, Fidan, B & Huissoon, JP 2013, Experimental modeling and adaptive control of an unmanned aerial vehicle as roadside assistance. in 2013 16th International IEEE Conference on Intelligent Transportation Systems: Intelligent Transportation Systems for All Modes, ITSC 2013., 6728487, IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC, Institute of Electrical and Electronics Engineers Inc., pp. 1784-1790, 16th International IEEE Conference on Intelligent Transportation Systems: Intelligent Transportation Systems for All Modes, ITSC 2013, The Hague, Netherlands, 6/10/13. https://doi.org/10.1109/ITSC.2013.6728487

Experimental modeling and adaptive control of an unmanned aerial vehicle as roadside assistance. / Bayezit, Ismail ; Inalhan, Gokhan; Fidan, Baris et al.
2013 16th International IEEE Conference on Intelligent Transportation Systems: Intelligent Transportation Systems for All Modes, ITSC 2013. Institute of Electrical and Electronics Engineers Inc., 2013. p. 1784-1790 6728487 (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Experimental modeling and adaptive control of an unmanned aerial vehicle as roadside assistance

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AU - Fidan, Baris

AU - Huissoon, Jan P.

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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.

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M3 - Conference contribution

AN - SCOPUS:84894347567

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Bayezit I , Inalhan G, Fidan B, Huissoon JP. Experimental modeling and adaptive control of an unmanned aerial vehicle as roadside assistance. In 2013 16th International IEEE Conference on Intelligent Transportation Systems: Intelligent Transportation Systems for All Modes, ITSC 2013. Institute of Electrical and Electronics Engineers Inc. 2013. p. 1784-1790. 6728487. (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC). doi: 10.1109/ITSC.2013.6728487

Experimental modeling and adaptive control of an unmanned aerial vehicle as roadside assistance

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UN SDGs

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