Unmanned Aerial Systems Guidance and Control Utilizing Instantaneous Screw Motion Invariants

ORAL

Abstract

The purpose of this research is to study the application of the concept of instantaneous screw motion (ISM) to unmanned aerial vehicle (UAV) dynamics, guidance, and control. The proposed approach to the utilization of this concept in flight dynamics is based on the ISM invariants. The equations of motion of the instantaneous screw axis (ISA) are presented. Thrust and angle of attack are considered as the control parameters. The motion invariants are determined in terms of the traditional kinematic and dynamic parameters by using the dynamic models of a quadcopter and a fixed-wing aircraft. The profiles of the invariants for various maneuvers of the UAVs are determined in terms of time and control parameters. Various characteristics of the ISM invariants and their profiles have been explained. Illustrative examples of utilizing these invariants in the analyses of motion dynamics and control are presented.

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Authors

  • Jasur Abdinabiev

    University of Hawaii at Manoa

  • Ina Flood

    Saleh Research Centre, University of Hawaii at Manoa, California State University, Long Beach, University of California Berkeley, University of Arizona, California State University, Long Beach Department of Physics and Astronomy, University of California Los Angeles Department of Physics and Astronomy, University of California, San Diego, University of California, Davis, Donostia International Physics Center, Yale University, Argonne National Laboratory, SLAC - Natl Accelerator Lab, Heidelberg University, Indiana University-Perdue University Indianapolis, Humboldt State University, Indiana University, Syracuse University, University of California Santa Cruz, STAR Teacher Program, Monta Vista High School, Saint Francis High School, Lawrenceville School, INAF, Ben-Gurion University, STScI, University of California, Los Angeles, Wuhan University, Harvey Mudd College, University of Maryland