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Author: Heba talla Mohamed Nabil Elkholy
Publisher:
ISBN:
Category : Avrocar (VTOL airplane)
Languages : en
Pages : 117
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Book Description
Abstract: With the huge advancements in miniature sensors, actuators and processors depending mainly on the Micro and Nano-Electro-Mechanical-Systems (MEMS/NEMS), many researches are now focusing on developing miniature flying vehicles to be used in both research and commercial applications. This thesis work presents a detailed mathematical model for a Vertical Takeo ff and Landing (VTOL) type Unmanned Aerial Vehicle(UAV) known as the quadrotor. The nonlinear dynamic model of the quadrotor is formulated using the Newton-Euler method, the formulated model is detailed including aerodynamic effects and rotor dynamics that are omitted in many literature. The motion of the quadrotor can be divided into two subsystems; a rotational subsystem (attitude and heading) and a translational subsystem (altitude and x and y motion). Although the quadrotor is a 6 DOF underactuated system, the derived rotational subsystem is fully actuated, while the translational subsystem is underactuated. The derivation of the mathematical model is followed by the development of four control approaches to control the altitude, attitude, heading and position of the quadrotor in space. The fi rst approach is based on the linear Proportional-Derivative-Integral (PID) controller. The second control approach is based on the nonlinear Sliding Mode Controller (SMC). The third developed controller is a nonlinear Backstepping controller while the fourth is a Gain Scheduling based PID controller. The parameters and gains of the forementioned controllers were tuned using Genetic Algorithm (GA) technique to improve the systems dynamic response. Simulation based experiments were conducted to evaluate and compare the performance of the four developed control techniques in terms of dynamic performance, stability and the effect of possible disturbances.
Author: Heba talla Mohamed Nabil Elkholy
Publisher:
ISBN:
Category : Avrocar (VTOL airplane)
Languages : en
Pages : 117
Get Book Here
Book Description
Abstract: With the huge advancements in miniature sensors, actuators and processors depending mainly on the Micro and Nano-Electro-Mechanical-Systems (MEMS/NEMS), many researches are now focusing on developing miniature flying vehicles to be used in both research and commercial applications. This thesis work presents a detailed mathematical model for a Vertical Takeo ff and Landing (VTOL) type Unmanned Aerial Vehicle(UAV) known as the quadrotor. The nonlinear dynamic model of the quadrotor is formulated using the Newton-Euler method, the formulated model is detailed including aerodynamic effects and rotor dynamics that are omitted in many literature. The motion of the quadrotor can be divided into two subsystems; a rotational subsystem (attitude and heading) and a translational subsystem (altitude and x and y motion). Although the quadrotor is a 6 DOF underactuated system, the derived rotational subsystem is fully actuated, while the translational subsystem is underactuated. The derivation of the mathematical model is followed by the development of four control approaches to control the altitude, attitude, heading and position of the quadrotor in space. The fi rst approach is based on the linear Proportional-Derivative-Integral (PID) controller. The second control approach is based on the nonlinear Sliding Mode Controller (SMC). The third developed controller is a nonlinear Backstepping controller while the fourth is a Gain Scheduling based PID controller. The parameters and gains of the forementioned controllers were tuned using Genetic Algorithm (GA) technique to improve the systems dynamic response. Simulation based experiments were conducted to evaluate and compare the performance of the four developed control techniques in terms of dynamic performance, stability and the effect of possible disturbances.
Author: Amr Mohamed Elhennawy
Publisher:
ISBN:
Category : Motor vehicles
Languages : en
Pages : 238
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Book Description
Abstract: It is not easy to control a quadrotor due to its highly nonlinear dynamics, variable coupling and model uncertainties. The underactuation property of the quadrotor also poses another degree of complexity to the model due to the limited availability of control techniques that can be applied to underactuated systems. This thesis presents the development of mathematical modeling, control techniques, simulation and real-time testing on a developed quadrotor as an unmanned aerial vehicle. Modeling of the dynamic system of a quadrotor including the motor dynamics is carried out using Newton-Euler mechanics and state space representation is obtained. Using this model a second-order Sliding Mode Control (SMC) is developed as a nonlinear robust control technique. For the SMC development, quadrotor system is divided into two subsystems, One represents the fully actuated degrees of freedom and the other one represents the underactuated degrees of freedom. The aim of the proposed flight controller is to achieve asymptotic position and attitude tracking of the two subsystems by driving the tracking errors to zero to achieve the required tracking performance. Tackling of chattering problem associated with SMC is introduced. Using the developed mathematical model and the developed two control techniques as linear and nonlinear approaches: the Proportional plus Derivative (PD)and SMC, simulation testing is conducted with and without the presence of external disturbances representing weight variation. Multiple simulations testing are performed to ensure the adequacy of the proposed control techniques using MATLAB and Simulink. Detailed discussion on the results of each control technique and comparison are presented with elaborate consideration of the robustness against weight variation. The simulation results demonstrate the ability of the SMC to drive the vehicle to stability and achieve the desired performance characteristics. . Finally, hardware design of a quadrotor has been developed and implemented with considerations on the hardware challenges are presented. Results of real-time ght tests using the two developed control techniques are presented and compared with that of the simulation results and it shows reliable performance of the nonlinear robust SMC controller. Flight tests results came consistent with the simulation results in terms of tracking performance, robustness and actuators e orts. Hardships in the implementation are mentioned and recommendations and future work are proposed.
Author: Management Association, Information Resources
Publisher: IGI Global
ISBN: 1522583661
Category : Transportation
Languages : en
Pages : 558
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Book Description
First used in military applications, unmanned aerial vehicles are becoming an integral aspect of modern society and are expanding into the commercial, scientific, recreational, agricultural, and surveillance sectors. With the increasing use of these drones by government officials, business professionals, and civilians, more research is needed to understand their complexity both in design and function. Unmanned Aerial Vehicles: Breakthroughs in Research and Practice is a critical source of academic knowledge on the design, construction, and maintenance of drones, as well as their applications across all aspects of society. Highlighting a range of pertinent topics such as intelligent systems, artificial intelligence, and situation awareness, this publication is an ideal reference source for military consultants, military personnel, business professionals, operation managers, surveillance companies, agriculturalists, policymakers, government officials, law enforcement, IT professionals, academicians, researchers, and graduate-level students.
Author: Mostafa Al-Emran
Publisher: Springer Nature
ISBN: 3030859908
Category : Technology & Engineering
Languages : en
Pages : 1024
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Book Description
This book sheds light on the emerging research trends in intelligent systems and their applications. It mainly focuses on four different themes, including Artificial Intelligence and Soft Computing, Information Security and Networking, Medical Informatics, and Advances in Information Systems. Each chapter contributes to the aforementioned themes by discussing the recent design, developments, and modifications of intelligent systems and their applications.
Author: Sugiman Sugiman
Publisher: Springer Nature
ISBN: 9464630787
Category : Technology & Engineering
Languages : en
Pages : 365
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Book Description
This is an open access book. The covid-19 pandemic today forces humans to do almost all activities from home. Consequently, inventions in many fields of engineering technology are needed to facilitate those activities. First, human activities mainly are based on information technology today and internet connection is very important. People generate, send, and receive data by their smartphones every time and everything is connected to the internet. Equipment becomes smarter to assist the owner. Second, People need powerful, efficient, and smart vehicles and machines in Industry 4.0. Third, the need for energy increases, which causes the decrease of global environmental quality. It needs new technology for saving energy by discovering new technologies in mechanical engineering. Fourth, many technologies emerge as disaster prevention by developing innovations in civil engineering and architecture. The Engineering Faculty of University of Mataram invites engineers and researchers around the world to visit Lombok island and to attend the valuable multi fields conference on science and engineering named “The First Mandalika International Multi-conference on Science and Engineering 2022′′ or “1st MIMSE 2022”. This fruitful event will be the annual conference in Lombok island which is supported by the West Nusa Tenggara Province government. Initially, the 1st MIMSE 2022 consisted of 5 engineering fields are Civil, Architecture, Electrical, Mechanical, and Informatics Engineering.
Author: Mohamed Elkhatib
Publisher:
ISBN: 9783330845961
Category :
Languages : en
Pages : 144
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Book Description
Author: Osvaldo Gervasi
Publisher: Springer Nature
ISBN: 3030587991
Category : Computers
Languages : en
Pages : 1091
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Book Description
The seven volumes LNCS 12249-12255 constitute the refereed proceedings of the 20th International Conference on Computational Science and Its Applications, ICCSA 2020, held in Cagliari, Italy, in July 2020. Due to COVID-19 pandemic the conference was organized in an online event. Computational Science is the main pillar of most of the present research, industrial and commercial applications, and plays a unique role in exploiting ICT innovative technologies. The 466 full papers and 32 short papers presented were carefully reviewed and selected from 1450 submissions. Apart from the general track, ICCSA 2020 also include 52 workshops, in various areas of computational sciences, ranging from computational science technologies, to specific areas of computational sciences, such as software engineering, security, machine learning and artificial intelligence, blockchain technologies, and of applications in many fields.
Author: Uma Shanker Tiwary
Publisher: Springer Nature
ISBN: 3030446891
Category : Computers
Languages : en
Pages : 302
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Book Description
This volume constitutes the proceedings of the 11th International Conference on Intelligent Human Computer Interaction, IHCI 2019, held in Allahabad, India, in December 2019. The 25 full papers presented in this volume were carefully reviewed and selected from 73 submissions. The papers are grouped in the following topics: EEG and other biological signal based interactions; natural language, speech and dialogue processing; vision based interactions; assistive living and rehabilitation; and applications of HCI.
Author: Idris Eko Putro
Publisher: LAP Lambert Academic Publishing
ISBN: 9783844318067
Category : Flight control
Languages : en
Pages : 108
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Book Description
The use of Quadrotor UAVs has been widely well known. It has capability to hover, vertical take-off and landing (VTOL) with having less complexity in vehicle dynamics compared with small helicopter. It is basically an unstable system and exhibits nonlinear behavior. This book describes the development of nonlinear model of quadrotor dynamics derived from Newton-Euler formulation and presented under Matlab/Simulink environment. The Model is equipped by Stability Augmentation System (SAS) to maintain the quadrotor level flight (attitude stability). The autonomous mission for this vehicle is fixed for trajectory following. LQR Optimal control was chosen to accomplish this mission.
Author: Jared D. A. Becker
Publisher:
ISBN:
Category : Linear control systems
Languages : en
Pages : 82
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Book Description
As the support and technology for unmanned vehicles has increased, so have the possible applications for Unmanned Aerial Vehicles (UAVs). From military intelligence gathering missions, to civilian search and rescue missions, the demand for highly capable UAVs is high. Drawing inspiration from biological examples such as the hawkmoth, this research investigates the use of dynamic inertia as a control mechanism for small quadrotor helicopters. Using Lagrangian mechanics, a nonlinear 3D model and a nonlinear 2D model are developed for a quadrotor with dynamic inertia modeled as an actuated pendulum mounted beneath the vehicle. Designing a linear quadratic controller for a linearization of the system about the hovering flight condition and applying this controller to the nonlinear model results in a stabilizing dynamic inertia controller capable of adequate trajectory tracking for a simple desired trajectory. Additional simulations also show that the linear controller has favorable robustness properties to compensate for modeling errors and nonlinearities.
