Control failures in an unmanned aerial system and the potential for stateless control

Kyle Norland, Michael W. Marcellin

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

To participate in the 2019 SUAS competition, an Unmanned Aerial System (UAS), was built. Unfortunately, several critical failures occurred, including an unwanted circling behavior, and an unnecessary self-crash. The analysis of both behaviors revealed surface level errors in the scripts and devices that were used, but also a deeper flaw in the architecture of state based behaviors and conditional state transitions. To address these failures, an alternative architecture based around stateless controls was designed and tested. It successfully resolved the issues, and seems to hold promise as an alternative control system architecture, especially in non-linear environments.

Original languageEnglish (US)
Title of host publication55th Annual International Telemetering Conference, ITC 2019
Subtitle of host publicationCultivating the Next Generation of Range Engineers
PublisherInternational Foundation for Telemetering
Pages578-587
Number of pages10
ISBN (Electronic)9781713801887
StatePublished - 2019
Event55th Annual International Telemetering Conference: Cultivating the Next Generation of Range Engineers, ITC 2019 - Las Vegas, United States
Duration: Oct 21 2019Oct 24 2019

Publication series

NameProceedings of the International Telemetering Conference
Volume55
ISSN (Print)0884-5123

Conference

Conference55th Annual International Telemetering Conference: Cultivating the Next Generation of Range Engineers, ITC 2019
CountryUnited States
CityLas Vegas
Period10/21/1910/24/19

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Signal Processing
  • Electrical and Electronic Engineering
  • Instrumentation

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