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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: Luis Rodolfo García Carrillo
Publisher: Springer Science & Business Media
ISBN: 144714399X
Category : Technology & Engineering
Languages : en
Pages : 191
Get Book Here
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: Pedro Castillo
Publisher: Springer Science & Business Media
ISBN: 9781852339579
Category : Computers
Languages : en
Pages : 272
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Book Description
Problems in the motion control of aircraft are of perennial interest to the control engineer as they tend to be of complex and nonlinear nature. Modelling and Control of Mini-Flying Machines is an exposition of models developed for various types of mini-aircraft: • planar Vertical Take-off and Landing aircraft; • helicopters; • quadrotor mini-rotorcraft; • other fixed-wing aircraft; • blimps. For each of these it propounds: • detailed models derived from Euler-Lagrange methods; • appropriate nonlinear control strategies and convergence properties; • real-time experimental comparisons of the performance of control algorithms; • review of the principal sensors, on-board electronics, real-time architecture and communications systems for mini-flying machine control, including discussion of their performance; • detailed explanation of the use of the Kalman filter to flying machine localization. To researchers and students in nonlinear control and its applications Modelling and Control of Mini-Flying Machines provides valuable insights to the application of real-time nonlinear techniques in an always challenging area. Advances in Industrial Control aims to report and encourage the transfer of technology in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. The series offers an opportunity for researchers to present an extended exposition of new work in all aspects of industrial control.
Author: Roland Schmehl
Publisher: Springer
ISBN: 9811019479
Category : Technology & Engineering
Languages : en
Pages : 752
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Book Description
This book provides in-depth coverage of the latest research and development activities concerning innovative wind energy technologies intended to replace fossil fuels on an economical basis. A characteristic feature of the various conversion concepts discussed is the use of tethered flying devices to substantially reduce the material consumption per installed unit and to access wind energy at higher altitudes, where the wind is more consistent. The introductory chapter describes the emergence and economic dimension of airborne wind energy. Focusing on “Fundamentals, Modeling & Simulation”, Part I includes six contributions that describe quasi-steady as well as dynamic models and simulations of airborne wind energy systems or individual components. Shifting the spotlight to “Control, Optimization & Flight State Measurement”, Part II combines one chapter on measurement techniques with five chapters on control of kite and ground stations, and two chapters on optimization. Part III on “Concept Design & Analysis” includes three chapters that present and analyze novel harvesting concepts as well as two chapters on system component design. Part IV, which centers on “Implemented Concepts”, presents five chapters on established system concepts and one chapter about a subsystem for automatic launching and landing of kites. In closing, Part V focuses with four chapters on “Technology Deployment” related to market and financing strategies, as well as on regulation and the environment. The book builds on the success of the first volume “Airborne Wind Energy” (Springer, 2013), and offers a self-contained reference guide for researchers, scientists, professionals and students. The respective chapters were contributed by a broad variety of authors: academics, practicing engineers and inventors, all of whom are experts in their respective fields.
Author: Jawhar Ghommam
Publisher: Springer Nature
ISBN: 981151819X
Category : Technology & Engineering
Languages : en
Pages : 382
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Book Description
This book presents solutions to control problems in a number of robotic systems and provides a wealth of worked-out examples with full analytical and numerical details, graphically illustrated to aid in reader comprehension. It also presents relevant studies on and applications of robotic system control approaches, as well as the latest findings from interdisciplinary theoretical studies. Featuring chapters on advanced control (fuzzy, neural, backstepping, sliding mode, adaptive, predictive, diagnosis, and fault-tolerant control), the book will equip readers to easily tailor the techniques to their own applications. Accordingly, it offers a valuable resource for researchers, engineers, and students in the field of robotic systems.
Author: Kimon P. Valavanis
Publisher: Springer Science & Business Media
ISBN: 1402061145
Category : Technology & Engineering
Languages : en
Pages : 552
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Book Description
The past decade has seen tremendous interest in the production and refinement of unmanned aerial vehicles, both fixed-wing, such as airplanes and rotary-wing, such as helicopters and vertical takeoff and landing vehicles. This book provides a diversified survey of research and development on small and miniature unmanned aerial vehicles of both fixed and rotary wing designs. From historical background to proposed new applications, this is the most comprehensive reference yet.
Author: Pedro Castillo Garcia
Publisher: Springer Science & Business Media
ISBN: 1846281792
Category : Technology & Engineering
Languages : en
Pages : 260
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Book Description
Modelling and Control of Mini-Flying Machines is an exposition of models developed to assist in the motion control of various types of mini-aircraft: • Planar Vertical Take-off and Landing aircraft; • helicopters; • quadrotor mini-rotorcraft; • other fixed-wing aircraft; • blimps. For each of these it propounds: • detailed models derived from Euler-Lagrange methods; • appropriate nonlinear control strategies and convergence properties; • real-time experimental comparisons of the performance of control algorithms; • review of the principal sensors, on-board electronics, real-time architecture and communications systems for mini-flying machine control, including discussion of their performance; • detailed explanation of the use of the Kalman filter to flying machine localization. To researchers and students in nonlinear control and its applications Modelling and Control of Mini-Flying Machines provides valuable insights to the application of real-time nonlinear techniques in an always challenging area.
Author: Anh Tuan Le
Publisher: BoD – Books on Demand
ISBN: 9535137964
Category : Technology & Engineering
Languages : en
Pages : 364
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Book Description
This book focuses on the applications of robust and adaptive control approaches to practical systems. The proposed control systems hold two important features: (1) The system is robust with the variation in plant parameters and disturbances (2) The system adapts to parametric uncertainties even in the unknown plant structure by self-training and self-estimating the unknown factors. The various kinds of robust adaptive controls represented in this book are composed of sliding mode control, model-reference adaptive control, gain-scheduling, H-infinity, model-predictive control, fuzzy logic, neural networks, machine learning, and so on. The control objects are very abundant, from cranes, aircrafts, and wind turbines to automobile, medical and sport machines, combustion engines, and electrical machines.
Author: Moussa Labbadi
Publisher: Springer Nature
ISBN: 3030810143
Category : Technology & Engineering
Languages : en
Pages : 263
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Book Description
This book studies selected advanced flight control schemes for an uncertain quadrotor unmanned aerial vehicle (UAV) systems in the presence of constant external disturbances, parametric uncertainties, measurement noise, time-varying external disturbances, and random external disturbances. Furthermore, in all the control techniques proposed in this book, it includes the simulation results with comparison to other nonlinear control schemes recently developed for the tracking control of a quadrotor UAV. The main contributions of the present book for quadrotor UAV systems are as follows: (i) the proposed control methods are based on the high-order sliding mode controller (SMC) and hybrid control algorithm with an optimization method. (ii) the finite-time control schemes are developed by using fast terminal SMC (FTSMC), nonsingular FTSMC (NFTSMC), global time-varying SMC, and adaptive laws. (iii) the fractional-order flight control schemes are developed by using the fractional-order calculus theory, super twisting algorithm, NFTSMC, and the SMC. This book covers the research history and importance of quadrotor system subject to system uncertainties, external wind disturbances, and noise measurements, as well as the research status of advanced flight control methods, adaptive flight control methods, and flight control based on fractional-order theory. The book would be interesting to most academic undergraduate, postgraduates, researchers on flight control for drones and applications of advanced controllers in engineering field. This book presents a must-survey for advanced finite-time control for quadrotor system. Some parts of this book have the potential of becoming the courses for the modelling and control of autonomous flying machines. Readers (academic researcher, undergraduate student, postgraduate student, MBA/executive, and education practitioner) interested in nonlinear control methods find this book an investigation. This book can be used as a good reference for the academic research on the control theory, drones, terminal sliding mode control, and related to this or used in Ph.D. study of control theory and their application in field engineering.
Author: Alessandro Astolfi
Publisher: World Scientific
ISBN: 1860946178
Category : Technology & Engineering
Languages : en
Pages : 316
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Book Description
This book summarizes the main results achieved in a four-year European Project on nonlinear and adaptive control. The project involves leading researchers from top-notch institutions: Imperial College London (Prof A Astolfi), Lund University (Prof A Rantzer), Supelec Paris (Prof R Ortega), University of Technology of Compiegne (Prof R Lozano), Grenoble Polytechnic (Prof C Canudas de Wit), University of Twente (Prof A van der Schaft), Politecnico of Milan (Prof S Bittanti), and Polytechnic University of Valencia (Prof P Albertos).The book also provides an introduction to theoretical advances in nonlinear and adaptive control and an overview of novel applications of advanced control theory, particularly topics on the control of partially known systems, under-actuated systems, and bioreactors.
Author: Josep M. Guerrero
Publisher: John Wiley & Sons
ISBN: 1118563220
Category : Technology & Engineering
Languages : en
Pages : 279
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Book Description
In the last decade the development and control of Unmanned Aerial Vehicles (UAVs) has attracted a lot of interest. Both researchers and companies have a growing interest in improving this type of vehicle given their many civilian and military applications. This book presents the state of the art in the area of UAV Flight Formation. The coordination and robust consensus approaches are presented in detail as well as formation flight control strategies which are validated in experimental platforms. It aims at helping students and academics alike to better understand what coordination and flight formation control can make possible. Several novel methods are presented: - controllability and observability of multi-agent systems; - robust consensus; - flight formation control; - stability of formations over noisy networks; which generate solutions of guaranteed performance for UAV Flight Formation. Contents 1. Introduction, J.A. Guerrero. 2. Theoretical Preliminaries, J.A. Guerrero. 3. Multiagent Coordination Strategies, J.A. Guerrero, R. Lozano, M.W. Spong, N. Chopra. 4. Robust Control Design for Multiagent Systems with Parametric Uncertainty, J.A. Guerrero, G. Romero. 5. On Adaptive and Robust Controlled Synchronization of Networked Robotic Systems on Strongly Connected Graphs, Y.-C. Liu, N. Chopra. 6. Modeling and Control of Mini UAV, G. Flores Colunga, J.A. Guerrero, J. Escareño, R. Lozano. 7. Flight Formation Control Strategies for Mini UAVs, J.A. Guerrero. 8. Formation Based on Potential Functions, L. García, A. Dzul. 9. Quadrotor Vision-Based Control, J.E. Gomez-Balderas, J.A. Guerrero, S. SALAZAR, R. Lozano, P. Castillo. 10. Toward Vision-Based Coordination of Quadrotor Platoons, L.R. García Carrillo, J.A. Guerrero, R. Lozano. 11. Optimal Guidance for Rotorcraft Platoon Formation Flying in Wind Fields, J.A. Guerrero, Y. Bestaoui, R. Lozano. 12. Impact of Wireless Medium Access Protocol on the Quadrotor Formation Control, J.A. Guerrero, Y. Challal, P. Castillo. 13. MAC Protocol for Wireless Communications, A. Mendez, M. Panduro, O. Elizarraras, D. Covarrubias. 14. Optimization of a Scannable Pattern for Bidimensional Antenna Arrays to Provide Maximum Performance, A. Reyna, M.A. Panduro, A. Mendez.
