8th ANKARA INTERNATIONAL AEROSPACE CONFERENCE AIAC-2015-135

10-12 September 2015 - METU, Ankara TURKEY

LANDING SEQUENCING MODELLING USING FUZZY LOGIC: AN ANALYTIC

APPROACH FOR UNMANNED AERIAL VEHICLES

Alper REN1 Ycel KOYT2

Turkish Air Force NCO College Celal Bayar University
Izmir,TURKEY Manisa, TURKEY

ABSTRACT
Unmanned Aerial Vehicle (UAV) is a creating innovation with a massive potential to change military
operations and to empower new civilian applications. The dramatically interest for unmanned systems
is generally determined by applications that are dull, dirty and dangerous. UAVs are mainly utilized for
intelligence, surveillance and reconnaissance (ISR) for military applications. On the other hand for
civilian applications they are mostly used for environment and agriculture monitoring, remote sensing,
aerial mapping, meteorology and so on. The essential problem for todays airspace manager is how to
integrate manned and unmanned aircraft to the same sky. Today most military UAVs all around the
world are restricted to airspace that is segregated. On the other hand, civilian trend for using UAV for
several purposes is increasing day by day. The only need to integrate of manned and unmanned
aerial aircraft is having proper and suitable air traffic management system. For today, air traffic
management (ATM) is dynamic and integrated environment including both manned and unmanned
aerial vehicle. But tendency for civil and military applications about future is substituting unmanned
aerial vehicle for manned aerial vehicle. Nowadays air traffic management system all around the world
is expanding logically and the situation is anticipated to wind up considerably more complicated in
close future In this paper, we present an analytic approach for UAV landing sequencing modelling with
in the dynamic airspace including different mission types or applications for both military and civilian
vehicles. For modelling, we utilize the MATLAB Fuzzy FIS (Fuzzy Inference System) with realistic data
and create the user friendly interface with MATLAB/GUI.

INTRODUCTION
Unmanned Aerial Vehicle (UAV) is a creating innovation with a massive potential to change military
operations and to empower new civilian applications. The dramatically interest for unmanned systems
is generally determined by applications that are dull, dirty and dangerous. UAVs are mainly utilized for
intelligence, surveillance and reconnaissance (ISR) for military applications. On the other hand for
civilian applications they are mostly used for environment and agriculture monitoring, remote sensing,
aerial mapping, meteorology and so on [Valavanis, 2007]. For today, air traffic management (ATM) is
dynamic and integrated environment including both manned and unmanned aerial vehicle. But
tendency for civil and military applications about future is substituting unmanned aerial vehicle for
manned aerial vehicle.
At present, air traffic management (ATM) is dynamic, integrated management of air traffic and
airspace including air traffic services, airspace management and air traffic flow management. The
operational concept of global ATM is to create safely, economically and efficiently sky. Nowadays air
traffic management system all around the world is expanding logically and the situation is anticipated
to wind up considerably more complicated in close future. Today most military UAVs all around the
world are restricted to airspace that is segregated. On the other hand, civilian trend for using UAV for
several purposes is increasing day by day [ren and Temel, 2014].

1
Faculty M ember in Department of Air Traffic Control Email : alperoren@tekok.edu.tr
2
Asst. Prof. in Faculty of Engineering, Department of Electric-Electronic Engineering Email : yucel.kocyigit@cbu.edu.tr

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Air traffic control services are provided for the purpose of not only preventing collision between aircraft
and on the maneuvering area between aircraft and obstruction but also expediting and maintaining an
orderly flow of air traffic [ICAO, 2005].
Todays vital issue for aviation is safety and the common goal is to reduce the accident rate in the
given limited and available airspace [Perrin and Kirwan, 2007]. With the integration of manned and
unmanned aerial vehicles, safety plays a major role. In order to integrate UAVs into ATM scenery,
establishment of relevant parameters to the UAVs is vital including UAV design parameters,
equipment of the UAV, reliability and robustness of the overall design and operational environment of
the UAV.
Albeit each and every may be proper in framework , it is flight rules classified as most pertinent to the
procedure of UAVs outside segregated airspace , because these control the ATM regulations and
policies that affect manned aircraft [EUROCONTROL, 2012] . The air traffic services delivered to
UAVs must harmonize with those available to manned aircraft systems and also UAVs ought to
contain equivalent features for flight, navigation and communication facilities which are as necessary
for manned aircraft. Essentially, if UAVs are to integrate with many other airspace users, they must
integrate with the existing procedures rather than current ATM being necessary to adapt to
accommodate UAVs.

AIR TRAFFIC MANAGEMENT DECISION MAKING

Air Traffic Controllers are decision maker in dynamic and complex environment including numerous
actors, consistent updating of pertinent data [Bakare, 2008 ]. They need to decide in a short time with
incomplete information, under time pressure and high workload. Todays modern aviation, air traffic
controller obtain relevant data from airspace users and then processing those data in appropriate way
for the best solution in that complex environment. Those data types can be divided into five subpart
included Pre-flight Information Data, Navigational Data, IFF (Identification Friend Or Foe) Data ,
Verbal Communications Data and Other Data. Air traffic controller update the data in a very short
and limited time and then broadcast again to the airspace users. But the lack of data coming from t he
airspace users to the air traffic controller complicated the decision making process [Benoit, 2003].
Air traffic controllers collaborate with pilots, technical staff, airspace managers and other controllers to
assure the safe, orderly, and expeditious flow of air traffic. They ensure safety by guaranteeing
minimum separation between aircraft and after that sequencing them [DArcy and J.F., Rocco, 2001].
Today's essential issue for aviation is safety and the common objective is to decrease accident rate in
the given limited accessible airspace. Normal flight consists of 5 different phases shown as Figure 1 :
engine startup and taxiing - taking off and climbing cruise (enroute) descending and landing
taxiing and engine shut down. The research report related with the aircraft accident analysis led by
Boeing pointed out that 58% of the accident occurred which can be seen in Figure 2 during descent
and landing phases [BOEING, 2013].

Figure 1: Phases of Flight Figure 2: Aircraft Accidents and Phases

The basic method for sequencing and planning of arriving aircraft on a single runway is utilizing the
First-Come-First-Served (FCFS) approach which allocates scheduled arriving time to each aircraft
based upon the sequence implied by the earliest time that the aircraft can land. But unfortunately, it
has been found that FCFS is rarely the best sequencing order in terms of maximum mission efficiency,
minimum fuel consumption and delay reduction [Mesgarpour and Potts and Bennell, 2010].

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Although there are numerous studies and paper about UAVs, there are some common subjects about
UAV navigation. Generally in literature, researchers have focused on cruise phase of flight and have
work on it. But for the safe sky landing part is vital part and cannot be omitted. For those reasons, our
motivation is focusing on landing part of flight and creating safely and efficiency flow for decision
makers.
In this paper, we present an analytic approach for UAV landing sequencing modelling via Fuzzy Logic
with in the dynamic airspace including different mission types or applications for both military and
civilian vehicles.

FUZZY SYSTEM
The determination of conflicts between aircraft can be regarded as a very complex problem, yet air
traffic controllers have the capacity to perform the undertaking with high rates of accomplishment
under demanding circumstances. Much of the expertise of the air traffic controller appears to lie in the
capacity to choose the suitable procedure for the issue.
Fuzzy logic is a superset of ordinary (Boolean) logic that has been reached out to handle the idea of
partial truth - truth values between "completely true" and "completely false". The importance of fuzzy
logic derives from the way that most modes of human thinking and particularly practical judgment skills
thinking are inexact in nature. One approach to represent inexact data and knowledge, closer to
considering, is to utilize fuzzy rules rather than exact rules when representing knowledg e [Zadeh,
1975].
Fuzzy systems are rule based or knowledge based systems originating from the concepts of fuzzy
sets. A typical fuzzy system, consists of four components which are shown in Figure 3; knowledge
base or fuzzy rule base, fuzzification interface, inference engine and defuzzification interface [Baykal
and Beyan, 2004].

Figure 3 : Basic Structure of Fuzzy Systems

Let X be a collection of objects, called the universe, and denote its generic element as x. A fuzzy set A
in X is defined as a set of ordered pairs;

= {( ( ) , )} ()

where A(x) is called the membership function of x in A.

The fuzzification interface (or fuzzifier) is a transform a real-valued variable into a fuzzy set. It is well
known that a crisp value of an input can be transformed into a fuzzy set in the form of a fuzzy
singleton that has zero membership function value everywhere except at the particular point where the
membership function value is unity [Feng, 2010]. A membership function is essentially a curve that
defines how each point in the input space is mapped to a membership value (or degree of
membership) between 0 and 1. Various types of membership functions are used, including triangular,

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trapezoidal, generalized bell shaped, Gaussian curves, polynomial curves, and sigmoid functions. In
proposed model, commonly triangular and trapezoidal membership functions have been used.
A triangular membership function is specified by three parameters a1, a2 ve a3 as follows,

(; , , ) = ()


{ > < }

A trapezoidal membership function is specified by four parameters a1, a2, a3 ve a4 as follows,

(; , , , ) = ()


{ > < }

The inference engine, which is the central component of a fuzzy system, is a reasoning mechanism in
the form of fuzzy reasoning and performs the inference procedure upon the fuzzy rules and given
conditions to derive conclusions. In this paper for modelling we select Min-Max Method which can be
seen in Figure 4 for interference engine.
Let the fuzzy rule be

: = = ()
i=1,2,,n then,

, ; , ; , ()

Let the A' and B' be fuzzy inputs and i=1,2,,n then ;

= [ ( ( ) ( ) ), ( () () )] ()

() = () ()
Then result of C' will be;
() == [ ()] ()

== ()

Figure 4 : Fuzzy System Inference Engine Min-Max Modelling

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On the other hand, the defuzzification interface (or defuzzifier) is a mechanism to transform a fuzzy set
over an output universe of discourse to a real-valued variable. The objective of defuzzification is to
extract a crisp value that best interprets a fuzzy set. In this paper for modelling we select center of
gravity (or the center of area) defuzzifiers.
()
= ()
()

MODELLING
For proposed UAVs landing sequencing modelling, the decision making process of air traffic controller
has been observed and then it has been decided for optimum decision, six different inputs and their
twenty eight different membership functions listed in Table 1 :

INPUT INTERVAL MEMBERSHP FUNCTIONS

Low Priority
Mission Priority 0 - 10 Medium Priority
High Priority
Very Low Altitude
Low Altitude
Altitude 0 50000 (feet) Medium Altitude
High Altitude
Very High Altitude
Very Slow
Slow
Velocity 0 220 (knot) Normal
Fast
Very Fast
Very Short
Short
Distance 0 40 (NM) Moderate
Long
Very Long
Very Low
Low
Rate of Descend 0 5000 (fpm) Medium
High
Very High
Very Short Period
Short Period
Endurance 0 60 (minutes) Normal Period
Long Period
Very Long Period

Table 1: Membership Function

In fuzzification interface, six inputs that effect landing sequencing listed in Table 1, totally twenty eight
triangular and trapezoidal membership functions shown in Figure 5 have been created.

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(a) Mission Priority Membership Function

(b) Altitude Membership Function

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(c) Velocity Membership Function

(d) Distance Membership Function

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(e) Rate of Descend Membership Function

(f) Endurance Membership Function

Figure 5: Membership Functions

In literature, fuzzy logic and UAV are together worked on two main subjects. One of them is physical
control of UAVs (esp. PID Controller), the other one is Mission Planning including Path Tracking and
Collision Avoidance. Generally for those studies, operational experience, knowledge of human or
simulation environments are considered. But in our proposed model, during the membership creation,
instead of operational experience, knowledge of human and simulation environments, we prefer use
realistic data and fuzzied those data. For that reason, for Altitude and Rate Of Descend inputs
ICAO Doc 7754 European Region Air Navigation Plan aircraft classification data, for Velocity input
Doc 8168 Aircraft Operations Volume I Flight Procedures Document, for Distance input NATO
and EUROUVS UAV Classification Criteria Documents and their classification intervals are used. In
that case, we aim that those data will be realistic numbers and can be adopted easily in real flight
environment. On the other hand, Mission Priority and Endurance havent been studied before in
literature and are firstly studied in this paper.

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In inference engine, Min-Max method has been chosen. After choosing the inputs and creating
membership functions, rules have been identified. For each rule, air traffic controller decision making
model has been derived and UAVs aerodynamic structures and limitation considered. Each
circumstances included the rules and totally 487 rules shown in Figure 6 have been created.
In defuzzification interface, center of gravity (or the center of area) defuzzifiers has been chosen. Six
fuzzied inputs and rules are calculated in defuzzification interface and we get one single number for
output function called as Mass of Landing between 0-10. This number indicates the landing
sequencing of UAVs. In that part 0 symbolizes the lowest priority whereas 10 symbolizes the highest
priority. Points are listed up to down and landing sequencing for UAV is created. Proposed model is
dynamic model and it can calculate landing sequencing for any new comer and if it i s necessary,
create a new landing sequencing for UAV.
In proposed model our assumption is each UAV has proper software and hardware. So that, they can
communicate each other and aware each others position Therefore they have also equipped with
GNSS system and they have precision position information. On the other hand they have ability to
complete their landing phase autonomously if necessary.

Figure 6: Rules

After creating the fuzzy logic based landing sequencing for UAV, sample scenario for 6 UAVs has
been figured. In sample scenario, 6 UAVs are in the descending phase with different parameters
shown in Table 2 and demonstrated in Figure 7.

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UAV 1 UAV 2 UAV 3 UAV 4 UAV 5 UAV 6

Mission Priority 6 8 3 4 9 5

Altitude (feet) 26000 30000 7000 5000 10000 6000

Velocity (knot) 100 155 85 150 130 70

Distance (NM) 22 30 15 35 16 18

Rate of Descent (fpm) 2700 3800 2000 1800 1500 1000

Endurance (minutes) 30 15 25 40 28 32

Table 2: Parameters of UAVs

Figure 7: UAVs For Descending and Landing Phase

The data for 6 UAVs are entered Modelling of Landing Sequencing for UAV interface designed in
MATLAB/GUI shown at Figure 8.

Figure 8: Modelling of Landing Sequencing for UAV Interface

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After implementation rules via MATLAB Fuzzy FIS (Fuzzy Inference System) outputs will be between
1-10 shown at Table 3. After having outputs for 6 UAVs, they will be listed from higher to lower then
landing sequencing will be formed shown at Table 4 and Figure 9.

Num ber of UAV Mass of Landing Landing Sequencing Num ber of UAV Mass of Landing
UAV 1 3.71 1 UAV 5 7
UAV 2 6.87 2 UAV 2 6.87
UAV 3 4.17 3 UAV 3 4.17
UAV 4 1.74 4 UAV 6 4
UAV 5 7 5 UAV 1 3.71
UAV 6 4 6 UAV 4 1.74
Table 3: Outputs for UAV Table 3: Landing Sequencing for UAV

Figure 9: Landing Sequencing for UAV

CONCLUSION
A major factor in safely and securely ATM for UAVs in airspace is going to be their capability to take
action and act in response as manned aircraft do. The majority of this capability will undoubtedly be
subject to the area of technology the skills of the aircraft to be controlled by the remote pilot, to
function as a communications deliver between remote pilot and air traffic control (ATC), the
functionality (e .g. operation period and continuity of the communications link) including the timeliness
of the aircrafts reaction to ATC instructions.
Air Traffic Controllers are decision maker in dynamic and complex environment including numerous
actors, consistent updating of pertinent data. They need to decide in a short time with incomplete
information, under time pressure and high workload.
In this paper, we clarify the current circumstance for UAVs in an ATM point of view and foresee the
future aspects of UAVs for civil and military applications.
Basically for sequencing and separating the aerial vehicles there are some inputs like speed, altitude,
distance, rate of descend, endurance etc. On the other hand universal rules for sequencing and
separating cannot be omitted. But finally we have only one output: Who will be the number one for
landing? In that point, we propose a new model via fuzzy logic.
The basic method for sequencing and planning of arriving aircraft on a single runway is utilizing the
First-Come-First-Served (FCFS) approach which allocates scheduled arriving time to each aircraft
based upon the sequence implied by the earliest time that the aircraft can land. But unfortunately, it
has been found that FCFS is rarely the best sequencing order in terms of maximum mission efficiency,
minimum fuel consumption and delay reduction.
The determination of conflicts between aircraft can be regarded as a very complex problem, yet air
traffic controllers have the capacity to perform the undertaking with high rates of accomplishment
under demanding circumstances. Much of the expertise of the air traffic controller appears to lie in the
capacity to choose the suitable methodology for the issue.
In this paper, we present an analytic approach for UAV landing sequencing modelling with in the
dynamic airspace including different mission types or applications for both military and civilian
vehicles. For modelling, we utilize the MATLAB Fuzzy FIS (Fuzzy Inference System) with realistic data

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Ankara International Aerospace Conference
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and create the user friendly interface with MATLAB/GUI. The simulation results show that the
proposed model is a robust alternative for maximum mission efficiency, minimum fuel consumption
and delay reduction.

References
Valavanis, Kimon P. (Ed.), Advances in Unmanned Aerial Vehicles State of the Art and the Road to
Autonomy, Springer Netherlands, 2007.
ren, Temel, Prospected Airspace Management with Integration Of Unmanned Systems , Second
International Aviation Management Conference, Ankara, 2014.
ICAO Annex 2, Rules of the Air, 2005.
Eric Perrin and Barry Kirwan, Future Considerations in ATM Safety R&D A Summary of the Safety
Gap Analysis Report by FAA/Eurocontrol Action Plan 15, Safety Research and Development, 2007.
EUROCONTROL, Specifications For The Use Of Military Remotely Piloted Aircraft As Operational Air
Traffic Outside Segregated Airspace, 2012.
Bakare, K.A., Design And Implementation Of A Fuzzy Logic Model For Air Traffic Control System ,
MSc Thesis, Ahmadu Bello Universty, Faculty Of Sciences, Department Of Mathematics, Nigeria,
2008.
Benoit, A., Pomeret J.M., Swierstra, S., Decision Mak ing Aids in On-Line ATC Systems, AGARD GCP
Symposium on Machine Intelligence in ATM, Berlin, 2003.
DArcy, J.F., Rocco, P.S.D., Air Traffic Control Specialist Decision Mak ing and Strategic Planning A
Field Survey, U.S. Department of Transportation Technical Note, 2001.
Boeing Co., Statistical Summary of Commercial Jet Airplane Accidents Worldwide Operations 1959-
2013, 2013.
Mesgarpour, Potts, Bennell, Models for Aircraft Landing Optimization, 4th International Conference on
Research in Air Transportation (ICRAT 2010) Budapest, Hungary,2010.
Zadeh, Fu, Tanaka, Shimura, Fuzzy Sets and Their Applications to Cognitive and Decis ion Processes,
Academic Press Inc., New York,1975
Baykal N., Beyan, T., Bulank Mantk Uzman Sistemler ve Denetleyiciler, Baklar Kitabevi, 2004
Feng, Gang, Analysis and Synthesis of Fuzzy Control Systems A Model -Based Approach, Taylor and
Francis Group Pub., 2010.

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