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Author: Mohamed Elkhatib
Publisher:
ISBN: 9783330845961
Category :
Languages : en
Pages : 144
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Book Description
Author: Mohamed Elkhatib
Publisher:
ISBN: 9783330845961
Category :
Languages : en
Pages : 144
Get Book Here
Book Description
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: 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: Bekkay Hajji
Publisher: Springer Nature
ISBN: 9811562598
Category : Technology & Engineering
Languages : en
Pages : 858
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Book Description
This book includes papers presented at the Second International Conference on Electronic Engineering and Renewable Energy (ICEERE 2020), which focus on the application of artificial intelligence techniques, emerging technology and the Internet of things in electrical and renewable energy systems, including hybrid systems, micro-grids, networking, smart health applications, smart grid, mechatronics and electric vehicles. It particularly focuses on new renewable energy technologies for agricultural and rural areas to promote the development of the Euro-Mediterranean region. Given its scope, the book is of interest to graduate students, researchers and practicing engineers working in the fields of electronic engineering and renewable energy.
Author:
Publisher:
ISBN:
Category : Electronic books
Languages : en
Pages : 69
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Book Description
The use of quadrotor or quadcopter type aerial vehicles has increased greatly in many industries and continues to be expanded. Many of the uses for the vehicle involve autonomously following a desired trajectory. More specifically there is a need for a control system that automatically executes a predetermined desired trajectory. This is often called the trajectory tracking problem and has been solved in a variety of different ways. In this thesis an LQR controller with time varying gains is designed, that is able to eliminate tracking error, by evaluating the linear time varying estimation of the quadcopter dynamics about a predetermined trajectory. This is done by obtaining the reference states and inputs in terms of a so called “flat output”. The performance of the LQR is evaluated via numerical simulation of various trajectories. To obtain realistic use cases some consideration is paidto the development of trajectories and the feasibility conditions needed to execute the desired trajectories. This is then compared to simplified dynamic models and variations of optimal control law for steady state cases. It is determined that the performance of a simplified LQR and dynamic model is acceptable for certain classes of the trajectories attempted. This control structure is then put onto an AR.Drone 2.0 and tested for altitude, pitch, roll, and yaw stability using MATLAB/Simulink with embedded coder. In doing so comparisons are made between different sensor fusion techniques for attitude estimation from an onboard inertial measurement unit (IMU). Comparisons between the AR.Drone 2.0 performance and the simulation results in altitude control show a possible discrepancy between the dynamic model and the real system. The addition of an integrator is used to achieve stable altitude control and correct error. This is done without full position and orientation feedback and uses only onboard sensors from the AR.Drone 2.0.
Author: Luis Rodolfo García Carrillo
Publisher: Springer Science & Business Media
ISBN: 144714399X
Category : Technology & Engineering
Languages : en
Pages : 191
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Book Description
Quad Rotorcraft Control develops original control methods for the navigation and hovering flight of an autonomous mini-quad-rotor robotic helicopter. These methods use an imaging system and a combination of inertial and altitude sensors to localize and guide the movement of the unmanned aerial vehicle relative to its immediate environment. The history, classification and applications of UAVs are introduced, followed by a description of modelling techniques for quad-rotors and the experimental platform itself. A control strategy for the improvement of attitude stabilization in quad-rotors is then proposed and tested in real-time experiments. The strategy, based on the use low-cost components and with experimentally-established robustness, avoids drift in the UAV’s angular position by the addition of an internal control loop to each electronic speed controller ensuring that, during hovering flight, all four motors turn at almost the same speed. The quad-rotor’s Euler angles being very close to the origin, other sensors like GPS or image-sensing equipment can be incorporated to perform autonomous positioning or trajectory-tracking tasks. Two vision-based strategies, each designed to deal with a specific kind of mission, are introduced and separately tested. The first stabilizes the quad-rotor over a landing pad on the ground; it extracts the 3-dimensional position using homography estimation and derives translational velocity by optical flow calculation. The second combines colour-extraction and line-detection algorithms to control the quad-rotor’s 3-dimensional position and achieves forward velocity regulation during a road-following task. In order to estimate the translational-dynamical characteristics of the quad-rotor (relative position and translational velocity) as they evolve within a building or other unstructured, GPS-deprived environment, imaging, inertial and altitude sensors are combined in a state observer. The text give the reader a current view of the problems encountered in UAV control, specifically those relating to quad-rotor flying machines and it will interest researchers and graduate students working in that field. The vision-based control strategies presented help the reader to a better understanding of how an imaging system can be used to obtain the information required for performance of the hovering and navigation tasks ubiquitous in rotored UAV operation.
Author: Fiona Chui
Publisher:
ISBN:
Category :
Languages : en
Pages :
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Book Description
"As quadrotor unmanned aerial vehicles (UAVs) become more commonplace, the inherent safety risks that these vehicles pose must be addressed. Focus is placed on the risk of losing flight control after a quadrotor UAV collides with an obstacle, which is a danger for anyone in proximity of the vehicle. A collision dynamics model of a quadrotor UAV with bumpers (i.e., propeller protection) is developed for the purpose of developing a collision recovery strategy to return the quadrotor to a hovering configuration after colliding with a wall, using only on-board sensors. The model includes forces and moments from the standard quadrotor rigid-body dynamics formulation, combined with contact forces applied at contact points on the bumpers. The model is simulated under an array of different incoming impact velocities and attitudes for model verification and studying the quadrotor post-collision response. Validation is provided by comparing the simulated post-collision response to experimental results with the same pre-impact conditions, to show the model is a suitable tool for collision recovery development. An overall recovery strategy is presented: the Collision Recovery Pipeline (CRP), comprising of three phases. The first two phases, Collision Identification and Collision Characterization, are formulated. The first phase detects the collision and estimates the contact surface normal direction with accelerometer measurements. The second phase uses a fuzzy logic process (FLP) to identify the difficulty of recovery. Monte Carlo simulation and experimental data demonstrate that the two phases provide useful information to the final CRP phase. Simulations and experiments of the complete recovery solution demonstrate successful quadrotor recovery for initial collision velocities up to 3 m/s, and the effect of the first two phases on the recovery control performance." --
Author: Muhammad Awais Sattar
Publisher:
ISBN:
Category : Drone aircraft
Languages : en
Pages : 76
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Book Description
"In this thesis, intelligent controllers are designed to control attitude for quadrotor UAV (Unmanned Aerial Vehicle).Quadrotors have a variety of applications in real time e.g. surveillance, inspection, search, rescue and reducing the human force in undesirable conditions. Quadrotors are generally unstable systems; the kinematics of quadrotor resembles the kinematics of inverted pendulum. In order to avoid the possibility of any kind of damages, the mathematical model of quadrotor should be developed and after that, the different control techniques can be implemented. This thesis presents a detailed simulation model for a Quadrotor. For the control purpose, three classical and modern control strategies are separately implemented which are PID, Fuzzy, and Adaptive Fuzzy PID for four basic motions roll, pitch, yaw, and Z Height. For better performance, error reduction and easy tuning, this thesis introduces individual controllers for all basic motion of a Quadrotor. The modeling and control is done using MATLAB/Simulink. The main objective of this thesis is to get the desired output with respect to the desired the input. At the end, simulation results are compared to check which controller acts the best for the developed Quadrotor model"--Abstract.
Author: Federico Casolo
Publisher: BoD – Books on Demand
ISBN: 9537619559
Category : Science
Languages : en
Pages : 594
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Book Description
The book reveals many different aspects of motion control and a wide multiplicity of approaches to the problem as well. Despite the number of examples, however, this volume is not meant to be exhaustive: it intends to offer some original insights for all researchers who will hopefully make their experience available for a forthcoming publication on the subject.
Author: Jinkun Liu
Publisher: Springer Science & Business Media
ISBN: 3642209076
Category : Technology & Engineering
Languages : en
Pages : 367
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Book Description
"Advanced Sliding Mode Control for Mechanical Systems: Design, Analysis and MATLAB Simulation" takes readers through the basic concepts, covering the most recent research in sliding mode control. The book is written from the perspective of practical engineering and examines numerous classical sliding mode controllers, including continuous time sliding mode control, discrete time sliding mode control, fuzzy sliding mode control, neural sliding mode control, backstepping sliding mode control, dynamic sliding mode control, sliding mode control based on observer, terminal sliding mode control, sliding mode control for robot manipulators, and sliding mode control for aircraft. This book is intended for engineers and researchers working in the field of control. Dr. Jinkun Liu works at Beijing University of Aeronautics and Astronautics and Dr. Xinhua Wang works at the National University of Singapore.
