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This paper presents an overview on the state of the art in copter drones and their components. It starts by providing an introduction to unmanned aerial vehicles in general, describing their main types, and then shifts its focus mostly to multirotor drones as the most attractive for individual and research use. This paper analyzes various multirotor drone types, their construction, typical areas of implementation, and technology used underneath their construction. Finally, it looks at current challenges and future directions in drone system development, emerging technologies, and future research topics in the area. This paper concludes by highlighting some key challenges that need to be addressed before widespread adoption of drone technologies in everyday life can occur. By summarizing an up-to-date survey on the state of the art in copter drone technology, this paper will provide valuable insights into where this field is heading in terms of progress and innovation. [ABSTRACT FROM AUTHOR]

The impact of operating voltage on Unmanned Aerial Vehicle (UAV) inspection and control is mainly manifested as electromagnetic interference, where the electric field mainly affects the distribution of space charges and ions, exhibiting adsorption effects on UAVs, and the magnetic field interferes with airborne magnetometers, disrupting the navigation system of UAVs. Under power frequency conditions, the electromagnetic field of alternating current exhibits alternating characteristics, and it only polarizes near the wire to form space charges or ion currents, with little effect at further distances. However, the variation in the magnetic field in one cycle is zero (positively correlated with alternating current), so its impact on UAVs is not particularly significant. Under direct current conditions, a constant current is introduced into the wire, and the electric field polarized around the wire generates a constant property of charge or ion current, resulting in a relatively larger electric field strength and a wider range of influence. At the same time, the constant current generates a constant magnetic field, which is applied to the airborne magnetometer, equivalent to adding a constant interference source, thus having a significant impact on the inspection and control of UAVs. This article uses ANSYS software to conduct electromagnetic field simulation analysis on DC transmission lines of different voltage levels.

The symmetrical design of the aircraft's wings and control surfaces determines the system framework in which the sensors,computers,and actuators of the flight control system are symmetrically distributed and installed on the aircraft,and the even number n-redundant architectural design is adopted. In the practical engineering,the balanced division of labor in the productive relations of redundant parts and the differences in design and manufacturing between different manufacturers would inevitably appear the case of two singular faults such as: 'two-party opposition' even separation uncertain fault and 'mutual disapproval' uncertain fault. In this paper,the basic theories such as median voting,variable memory and redundancy reconstruction are put forward,and the criterion of extreme signal high probability fault is given. It provides an effective voting monitoring scheme for four redundancy signals "2∶2 uncertain faults,1∶1∶1 multiple faults",three redundancy signals 1∶1∶1 multiple faults and two redundancy signals 1∶1 faults.

The impact of operating voltage on Unmanned Aerial Vehicle (UAV) inspection and control is mainly manifested as electromagnetic interference, where the electric field mainly affects the distribution of space charges and ions, exhibiting adsorption effects on UAVs, and the magnetic field interferes with airborne magnetometers, disrupting the navigation system of UAVs. Under power frequency conditions, the electromagnetic field of alternating current exhibits alternating characteristics, and it only polarizes near the wire to form space charges or ion currents, with little effect at further distances. However, the variation in the magnetic field in one cycle is zero (positively correlated with alternating current), so its impact on UAVs is not particularly significant. Under direct current conditions, a constant current is introduced into the wire, and the electric field polarized around the wire generates a constant property of charge or ion current, resulting in a relatively larger electric field strength and a wider range of influence. At the same time, the constant current generates a constant magnetic field, which is applied to the airborne magnetometer, equivalent to adding a constant interference source, thus having a significant impact on the inspection and control of UAVs. This article uses ANSYS software to conduct electromagnetic field simulation analysis on DC transmission lines of different voltage levels. [ABSTRACT FROM AUTHOR]

A fault detection design is proposed for addressing the Oscillatory Failure Case (OFC) detection problem, introduced in the joint Airbus-Stellenbosch university aerospace industrial-benchmark competition called at the IFAC 2020 World Congress 1 1 https://www.ifac2020.org/program/competitions/aerospace-industrial-fault-detection.. The detection scheme is comprised of an output estimator, a wavelet decomposition and an energy-based denoising method, and the residual evaluation unit. The detection problem of wide frequency range OFCs is also addressed. According to the achieved simulation results, the proposed fault detection method is able to satisfy the competition prescriptions in the frequency range [1 10] Hz for those OFC's having an amplitude greater than 2.3 mm for OFCs at rod position sensor, or 1.4 mA for OFCs at servo input current, regardless of disturbances level, uncertainties and load factor control input. In other cases, faults are detected slightly after the prescribed detection limit, with some interesting exceptions. [Display omitted] • An oscillatory failure case detection scheme is presented to be used in the flight control systems. • A general detection solution using discrete wavelet decomposition is provided. • OFCs with amplitude beyond 2.3 mm at the rod sensor and 1.9 mA in the servo input are detectable. [ABSTRACT FROM AUTHOR]

This paper presents an overview on the state of the art in copter drones and their components. It starts by providing an introduction to unmanned aerial vehicles in general, describing their main types, and then shifts its focus mostly to multirotor drones as the most attractive for individual and research use. This paper analyzes various multirotor drone types, their construction, typical areas of implementation, and technology used underneath their construction. Finally, it looks at current challenges and future directions in drone system development, emerging technologies, and future research topics in the area. This paper concludes by highlighting some key challenges that need to be addressed before widespread adoption of drone technologies in everyday life can occur. By summarizing an up-to-date survey on the state of the art in copter drone technology, this paper will provide valuable insights into where this field is heading in terms of progress and innovation.

Novel vertical take-off and landing advanced air mobility aircraft which are overactuated and transition between vertical and forward flight modes pose unique challenges for the design of safe and robust full-envelope fly-by-wire flight control systems. This paper presents a methodology for designing and optimizing a control system architecture for a tilt-wing urban air mobility concept. It features the total energy control system algorithm, which is extended to be applicable to hover and transitioning flight and explicit model following inner loops. Control system parameters are optimized using a genetic algorithm optimization scheme, subject to constraints on closed-loop dynamic stability and control response characteristics. Control system performance is demonstrated by simulation of lateral, longitudinal, and directional maneuvering for hover, transition, and forward flight conditions, followed by simulation of departure and arrival transitions while tracking a prescribed flightpath and speed profile in calm and turbulent air. The results demonstrate the effectiveness of the proposed control system architecture and the demonstrated optimization methodology. [ABSTRACT FROM AUTHOR]

This research focuses on the development of two bioinspired micro air vehicle (MAV) prototypes, based on morphing wings and wing grid wingtip devices. The morphing wings MAV tries to adapt the aerodynamics of the vehicle to each phase of flight by modifying the vehicle geometry, while the wing grid MAV aims to minimize the aerodynamic and weight penalty of these vehicles. This work focuses on the design methodology of the flight control system of these MAVs. A preliminary theoretical conceptual design was used to verify the requirements, wind tunnel tests were performed to determine aerodynamic characteristics, and suitable materials were selected. The hardware and software configuration designed for the control system, which fulfills the objective of adaptive and optimal control in the wingtip-based prototype of the wing grid, is described. Finally, the results of the flight control on the prototype MAVs are analyzed.

The cable flight control systems are commonly used for the control of small airplanes. In these systems, the cables are the only elements transmitting loads from the pilot to the control surfaces. During a flight the cables are moving through pulleys and are subjected to variable loads. A simple analysis of stress in the cable shows that the stress generated by the cyclical bending on the pulleys causes the fatigue of the wires.

The technology of firefighting unmanned aerial vehicles (UAVs) used in fire scene reconnaissance, water disaster investigation, and rescue missions, has become a crucial asset in responding to fires and emergencies. The key to this technology is to swiftly and effectively improve the operational efficiency of UAVs. Based on the premise of rapid and effective rescue, the stability, tracking, and safety of hexacopter UAVs technology improved the design and optimization innovative design of the storage and transportation convenience structure of unmanned aerial vehicles were carried out. An innovative high-pressure ejection mechanism for fire bombs (delivery items) has been designed. So, a portable, efficient, and fast unmanned aerial vehicle structure was designed. The PX4 flight control system was used to conduct simulation experiments on the newly designed UAV, and it was found that the structural design was reasonable, and the UAV was operated smoothly and accurately during the simulation flight. This structural design and simulation analysis can provide new ideas for the design of new fire-fighting equipment. [ABSTRACT FROM AUTHOR]

In order to ensure the flight safety of small unmanned aerial vehicles (UAVs), a deep neural network-fused mathematical modeling approach is put up for reliable flight control of small UAVs. First, engine torque, thrust eccentricity and initial stop angle are taken into full consideration. A six-degree-of-freedom nonlinear model is formulated for small UAVs, concerning both ground taxiing and air flight status. Then, the model was linearized using the principle of small disturbances. The linearized model expressions for both ground taxiing and air flight were provided. In addition, radial basis function neural networks are used for online approximation to address the nonlinearity and uncertainty caused by changes in aircraft aerodynamic parameters. At the same time, to compensate for the external disturbance and the approximation error of the neural network, the system robustness is improved by selecting reasonable design parameters. This helps the whole flight control system obtain better tracking control performance. At last, some simulation experiments are carried out to evaluate the performance of the proposed mathematical modeling framework. The simulation results show that the proposal has stronger convergence ability, smaller prediction error, and better performance. Thus, proper proactivity can be acknowledged. [ABSTRACT FROM AUTHOR]

The AquaFly project is a research collaboration between the Flight Systems and Control (FSC) Laboratory at the University of Toronto Institute for Aerospace Studies (UTIAS) and Queen’s University Biology Department in Canada to offer a fast, reliable, and efficient method of sampling water bodies by using autonomous Unmanned Aerial Systems (UAS). To this end, two UAS are custom-designed and flown for autonomous water sampling, incorporating an octocopter configuration and a ratchet and pawl mechanism for retracting and releasing payloads. This design offers easy-to-use and safe deployment and retraction without continuous motor engagement while eliminating load swinging and the risk of instability by positioning the sampler close to the drone’s center of mass. Furthermore, the system enables autonomous water sampling in remote or inaccessible areas with pre-programmed flight paths and sampling locations, ensuring consistent data collection. The sampling mechanism allows controlled retrieval and release of payloads and further facilitates multi-drone operations to support a variety of sampling missions. This innovative UAS has the potential to revolutionize water sampling and enhance efficiency and safety in environmental monitoring, research, and resource management. Flight tests over several water bodies demonstrate successful simultaneous water sampling missions with two UAS. To the best of the authors’ knowledge, this is the first work to include multiple UAS, each equipped with a payload deployment and retraction mechanism, for autonomous water sampling. [ABSTRACT FROM AUTHOR]

This paper investigates a problem of autonomous aerial refueling point parallel rendezvous guidance and flight control subject to exogenous wind field disturbances. The tanker and uncrewed receiver aircraft approach the common refueling rendezvous point according to their respective flight plans, ultimately maintaining a fixed altitude and the same speed. According to the relative position of refueling target point and uncrewed receiver, a new continuous terminal sliding-mode guidance law combined with the prescribed performance control theory is designed under the end angle and speed constraints. Meanwhile, a finite-time observer is proposed to estimate the parameter uncertainties and wake vortex disturbances during refueling rendezvous. Based on the estimated information, a backstepping double-integral sliding-mode controller is developed for the uncrewed receiver flight control system. In the process of the guidance and flight control system, the integral variable is introduced to improve the steady-state performance. The designed guidance and control system can enable the uncrewed receiver to achieve the refueling rendezvous task within finite time and improve the efficiency of uncrewed aerial refueling. Comparative numerical simulations are provided to demonstrate the effectiveness of the proposed guidance and control scheme. [ABSTRACT FROM AUTHOR]

In this paper, we report our progress on integrating a model‐based system engineering methodology with a system architectural trade study applied to flight control systems of a locally owned and operated, cost effective Unmanned Aerial Vehicles (UAV) design utilizing the concepts of Model‐Based Systems Architecture Processes (MBSAP). The primary objective of the UAV is to monitor wildfires and to gather information and to provide surveillance data for predicting and preventing wildfires [1]. We describe our experience with a holistic approach to architect flight controls (the System‐of‐Interest), in a way that is tightly coupled with high‐level stakeholder needs and concerns, operational scenarios, (normal, inadvertent, and mis‐) use cases, Context System, and Enabling Systems. Several architectural variants of the Surface‐less Flight Controls (SFC) were traded. Our systemic approach showed that classical flight controls are feasible for the baseline UAV. It also helped us identify a novel architecture with a potential to drastically improve UAV performance (range, survey time), UAV weight, and specific cost. Our approach has resulted in an architecture that has the potential to significantly reduce the costs of manufacturing as well as operating UAVs, at the same time it drastically improves their performance. This development could mean widely increased availability and improved effectiveness of UAVs in fire detection and prevention. [ABSTRACT FROM AUTHOR]