A survey on fractional order control techniques for unmanned aerial and ground vehicles

In recent years, numerous applications of science and engineering for modeling and control of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) systems based on fractional calculus have been realized. The extra fractional order derivative terms allow to optimizing the performance of the systems. The review presented in this paper focuses on the control problems of the UAVs and UGVs that have been addressed by the fractional order techniques over the last decade

Generalized Proportional Integral Control for an Unmanned Quadrotor System

In this article, a generalized proportional integral (GPI) control approach is presented for regulation and trajectory tracking problems in a nonlinear, multivariable quadrotor system model. In the feedback control law, no asymptotic observers or time discretizations are needed in the feedback loop. The GPI controller guarantees the asymptotically and exponentially stable behaviour of the controlled quadrotor position and orientation, as well as the possibilities of carrying out trajectory tracking tasks. The simulation results presented in the paper show that the proposed method exhibits very good stabilization and tracking performance in the presence of atmospheric disturbances and noise measurements

Assisting dependent people at home through autonomous unmanned aerial vehicles

This work describes a proposal of autonomous unmanned aerial vehicles (AUAVs) for home assistance of dependent people. AUAVs will monitor and recognize human activities during flight to improve their quality of life. However, before bringing such AUAV assistance to real homes, several challenges must be faced to make them viable and practical. Some challenges are technical and some others are related to human factors. In particular, several technical aspects are described for AUAV assistance: (1) flight control, based on our active disturbance rejection control algorithm, (2) flight planning (navigation in obstacle environments), and, (3) processing signals, acquired both from flight-control and monitoring sensors. From the assisted person’s viewpoint, our research focuses on three cues: (1) the user’s perception about AUAV assistance, (2) the influence on human acceptance of AUAV appearance and behavior at home, and (3) the human-robot interaction between assistant AUAV and assisted person. Finally, virtual reality environments are proposed to carry out preliminary tests and user acceptance evaluations.This work has been partially supported by Spanish Ministerio de Ciencia, Innovación y Universidades, Agencia Estatal de Investigaci´on (AEI) / European Regional Development Fund (FEDER, UE) under DPI2016-80894-R grant, and by CIBERSAM of the Instituto de Salud Carlos III. Lidia M. Belmonte holds FPU014/05283 scholarship from Spanish Ministerio de Educaci´on y Formación Profesional