329 research outputs found
Development of Robust Control Laws for Disturbance Rejection in Rotorcraft UAVs
Inherent stability inside the flight envelope must be guaranteed in order to safely introduce private and commercial UAV systems into the national airspace. The rejection of unknown external wind disturbances offers a challenging task due to the limited available information about the unpredictable and turbulent characteristics of the wind. This thesis focuses on the design, development and implementation of robust control algorithms for disturbance rejection in rotorcraft UAVs. The main focus is the rejection of external disturbances caused by wind influences. Four control algorithms are developed in an effort to mitigate wind effects: baseline nonlinear dynamic inversion (NLDI), a wind rejection extension for the NLDI, NLDI with adaptive artificial neural networks (ANN) augmentation, and NLDI with L1 adaptive control augmentation. A simulation environment is applied to evaluate the performance of these control algorithms under external wind conditions using a Monte Carlo analysis. Outdoor flight test results are presented for the implementation of the baseline NLDI, NLDI augmented with adaptive ANN and NLDI augmented with L1 adaptive control algorithms in a DJI F330 Flamewheel quadrotor UAV system. A set of metrics is applied to compare and evaluate the overall performance of the developed control algorithms under external wind disturbances. The obtained results show that the extended NLDI exhibits undesired characteristics while the augmentation of the baseline NLDI control law with adaptive ANN and L1 output-feedback adaptive control improve the robustness of the translational and rotational dynamics of a rotorcraft UAV in the presence of wind disturbances
The MRS UAV System: Pushing the Frontiers of Reproducible Research, Real-world Deployment, and Education with Autonomous Unmanned Aerial Vehicles
We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation
system for supporting replicable research through realistic simulations and
real-world experiments. We propose a unique multi-frame localization paradigm
for estimating the states of a UAV in various frames of reference using
multiple sensors simultaneously. The system enables complex missions in GNSS
and GNSS-denied environments, including outdoor-indoor transitions and the
execution of redundant estimators for backing up unreliable localization
sources. Two feedback control designs are presented: one for precise and
aggressive maneuvers, and the other for stable and smooth flight with a noisy
state estimate. The proposed control and estimation pipeline are constructed
without using the Euler/Tait-Bryan angle representation of orientation in 3D.
Instead, we rely on rotation matrices and a novel heading-based convention to
represent the one free rotational degree-of-freedom in 3D of a standard
multirotor helicopter. We provide an actively maintained and well-documented
open-source implementation, including realistic simulation of UAV, sensors, and
localization systems. The proposed system is the product of years of applied
research on multi-robot systems, aerial swarms, aerial manipulation, motion
planning, and remote sensing. All our results have been supported by real-world
system deployment that shaped the system into the form presented here. In
addition, the system was utilized during the participation of our team from the
CTU in Prague in the prestigious MBZIRC 2017 and 2020 robotics competitions,
and also in the DARPA SubT challenge. Each time, our team was able to secure
top places among the best competitors from all over the world. On each
occasion, the challenges has motivated the team to improve the system and to
gain a great amount of high-quality experience within tight deadlines.Comment: 28 pages, 20 figures, submitted to Journal of Intelligent & Robotic
Systems (JINT), for the provided open-source software see
http://github.com/ctu-mr
Nonlinear Control Strategies for Outdoor Aerial Manipulators
In this thesis, the design, validation and implementation of nonlinear control strategies for aerial manipulators
{i.e. aerial robots equipped with manipulators{ is studied, with special emphasis on the internal coupling of the
system and its resilience against external disturbances. For the rst, di erent decentralised control strategies
{i.e. using di erent control typologies for each one of the subsystems{ that indirectly take into account this
coupling have been analysed. As a result, a nonlinear strategy composed of two controllers is proposed. A higher
priority is given to the manipulation accuracy, relaxing the platform tracking, and hence obtaining a solution
improving the manipulation capabilities with the surrounding environment. To validate these results, thorough
stability and robustness analyses are provided, both theoretically and in simulation.
On the other hand, a signi cant e ort has been devoted to improving the response and applicability of
robot manipulators used in
ight via control. In particular, the design of controllers for lightweight
exible
manipulators {that reduce the consequences of incidents involving unforeseen contacts{ is analysed. Although
their inherent nature perfectly ts for aerial manipulation applications, the added
exibility produces unwanted
behaviours, such as second-order modes and uncertainties. To cope with them, an adaptable position nonlinear
control strategy is proposed. To validate this contribution, the stability of the approach is studied in theory
and its capabilities are proven in several experimental scenarios. In these, the robustness of the solution against
unforeseen impacts and contact with uncharacterised interfaces is demonstrated.
Subsequently, this strategy has been enriched with {multiaxis{ force control capabilities thanks to the
inclusion of an outer control loop modifying the manipulator reference. Accordingly, this additional applicationfocused
capability is added to the controlled system without loosing the modulated response of the inner-loop
position strategy. It is also worth noting that, thanks to the cascade-like nature of the modi cation, the transition
between position and force control modes is inherently smooth and automatic. The stability of this expanded
strategy has been theoretically analysed and the results validated in a set of experimental scenarios.
To validate the rst nonlinear approach with realistic outdoor simulations before its implementation, a
computational
uid dynamics analysis has been performed to obtain an explicit model of the aerodynamic
forces and torques applied to the blunt-body of the aerial platform in
ight. The results of this study have been
compared to the most common alternative nowadays, being highlighted that the proposed model signi cantly
surpasses this option in terms of accuracy. Moreover, it is worth underscoring that this characterisation could
be also employed in the future to develop control solutions with enhanced rejection capabilities against wind
conditions.
Finally, as the focus of this thesis is on the use of novel control strategies on real aerial manipulation outdoors
to improve their accuracy while performing complex tasks, a modular autopilot solution to be able to implement
them has been also developed. This general-purpose autopilot allows the implementation of new algorithms,
and facilitates their theory-to-experimentation transition. Taking into account this perspective, the proposed
tool employs the simple and widely-known MAS interface and the highly reliable PX4 autopilot as backup, thus
providing a redundant approach to handle unexpected incidents in
ight.En esta tesis se ha estudiado el diseño, validación e implementación de estrategias de control
no lineales para robots manipuladores aéreos –esto es, robots aéreos equipados con un sistema
de manipulación robótica–, dándose especial énfasis a las interacciones internas del sistema y a
su resiliencia frente a efectos externos. Para lo primero, se han analizado diferentes estrategias
de control descentralizado –es decir, que usan tipologías de control diferentes para cada uno de
los subsistemas–, pero que tienen indirectamente en consideración la interacción entre manipulación
y vuelo. Como resultado de esta línea, se propone una estretegia de control conformada
por dos controladores. Estos se coordinan de tal forma que se le da prioridad a la manipulación
sobre el seguimiento de posiciones del vehículo, produciéndose un sistema de control que mejora
la precisión de las interacciones entre el sistema manipulador y el entorno. Para validar estos resultados,
se ha analizado su estabilidad y robustez tanto teóricamente como mediante simulaciones
numéricas.
Por otro lado, se ha buscado mejorar la respuesta y aplicabilidad de los manipuladores que se
usan en vuelo mediante su control. Dentro de esta tendencia, la tesis se ha centrado en el diseño
de controladores para manipuladores ligeros flexibles, ya que estos permiten reducir el peso del
sistema completo y reducen el riesgo de incidentes debidos a contactos inesperados. Sin embargo,
la flexibilidad de estos produce comportamientos indeseados durante la operación, como la aparición
de modos de segundo orden y cierta incentidumbre en su comportamiento. Para reducir su
impacto en la precisión de las tareas de manipulación, se ha desarrollado un controlador no lineal
adaptable. Para validar estos resultados, se ha analizado la estabilidad del sistema teóricamente y se
han desarrollado una serie de experimentos. En ellos, se ha comprobado su robustez ante impactos
inesperados y contactos con elementos no caracterizados.
Posteriormente, esta estrategia para manipuladores flexibles ha sido ampliada al añadir un bucle
externo que posibilita el control en fuerzas en varias direcciones. Esto permite, mediante un único
controlador, mantener la suave respuesta de la estrategia. Además cabe destacar que, al contar esta
estrategia con un diseño en cascade, la transición entre los segmentos de desplazamiento del brazo
y de aplicación de fuerzas es fluida y automática. La estabilidad de esta estrategia ampliada ha sido
analizada teóricamente y los resultados han sido validados experimentalmente.
Para validar la primera estrategia mediante simulaciones que representen fielmente las condiciones
en exteriores antes de su implementación, ha sido necesario realizar un estudio mediante
mecánica de fluidos computacional para obtener un modelo explícito de las fuerzas y momentos
aerodinámicos a los que se efrenta la plataforma en vuelo. Los resultados de este estudio han
sido comparados con la alternativa más empleada actualmente, mostrándose que los avances del
método propuesto son sustanciales. Asimismo, es importante destacar que esta caracterización podría
también usarse en el futuro para desarrollar controladores con una respuesta mejorada ante
perturbaciones aerodinámicas, como en el caso de volar con viento. Finalmente, al ser esta una tesis centrada en las estrategias de control novedosas en sistemas
reales para la mejora de su rendimiento en misiones complejas, se ha desarrollado un autopiloto
modular fácilmente modificable para implementarlas. Este permite validar experimentalmente
nuevos algoritmos y facilita la transición entre teoría y práctica. Para ello, esta herramienta se
basa en una interfaz sencilla ampliamente conocida por los investigadores de robótica, Simulink®,
y cuenta con un autopiloto de respaldo, PX4, para enfrentarse a los incidentes inesperados que
pudieran surgir en vuelo
Automatic Flight Control Systems
The history of flight control is inseparably linked to the history of aviation itself. Since the early days, the concept of automatic flight control systems has evolved from mechanical control systems to highly advanced automatic fly-by-wire flight control systems which can be found nowadays in military jets and civil airliners. Even today, many research efforts are made for the further development of these flight control systems in various aspects. Recent new developments in this field focus on a wealth of different aspects. This book focuses on a selection of key research areas, such as inertial navigation, control of unmanned aircraft and helicopters, trajectory control of an unmanned space re-entry vehicle, aeroservoelastic control, adaptive flight control, and fault tolerant flight control. This book consists of two major sections. The first section focuses on a literature review and some recent theoretical developments in flight control systems. The second section discusses some concepts of adaptive and fault-tolerant flight control systems. Each technique discussed in this book is illustrated by a relevant example
Neural-Networks Control for Hover to High-Speed-Level-Flight Transition of Ducted Fan UAV With Provable Stability
In this paper, we focus on the transition control of a ducted fan vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV). To achieve a steady transition from hover to high-speed flight, a neural-networks-based controller is proposed to learn the system dynamics and compensate for the tracking error between the aircraft dynamics and the desired dynamic performance. In prior, we derive the nonlinear system model of the aircraft full-envelope dynamics. Then, we propose a novel neural-networks-based control scheme and apply it on the underactuated aircraft system. Key features of the proposed controller consist of projection operator, state predictor and dynamic-formed adaptive input. It is proved and guaranteed that the tracking errors of both state predictor and neural-networks weights are upper bounded during the whole neural-networks learning procedure. The very adaptive input is formed into a dynamic structure that helps achieve a reliable fast convergence performance of the proposed controller, especially in high-frequency disturbance conditions. Consequently, the closed-loop system of the aircraft is able to track a certain trajectory with desired dynamic performance. Satisfactory results are obtained from both simulations and practical flight test in accomplishing the designed flight course
Career: artificial learning control systems for performance critical applications
Issued as final reportNational Science Foundation (U.S.
The use of modern tools for modelling and simulation of UAV with Haptic
Unmanned Aerial Vehicle (UAV) is a research field in robotics which is in high demand in recent years, although there still exist many unanswered questions. In contrast, to the human operated aerial vehicles, it is still far less used to the fact that people are dubious about flying in or flying an unmanned vehicle. It is all about giving the control right to the computer (which is the Artificial Intelligence) for making decisions based on the situation like human do but this has not been easy to make people understand that it’s safe and to continue the enhancement on it. These days there are many types of UAVs available in the market for consumer use, for applications like photography to play games, to map routes, to monitor buildings, for security purposes and much more. Plus, these UAVs are also being widely used by the military for surveillance and for security reasons. One of the most commonly used consumer product is a quadcopter or quadrotor.
The research carried out used modern tools (i.e., SolidWorks, Java Net Beans and MATLAB/Simulink) to model controls system for Quadcopter UAV with haptic control system to control the quadcopter in a virtual simulation environment and in real time environment. A mathematical model for the controlling the quadcopter in simulations and real time environments were introduced. Where, the design methodology for the quadcopter was defined. This methodology was then enhanced to develop a virtual simulation and real time environments for simulations and experiments. Furthermore, the haptic control was then implemented with designed control system to control the quadcopter in virtual simulation and real time experiments.
By using the mathematical model of quadcopter, PID & PD control techniques were used to model the control setup for the quadcopter altitude and motion controls as work progressed. Firstly, the dynamic model is developed using a simple set of equations which evolves further by using complex control & mathematical model with precise function of actuators and aerodynamic coefficients Figure5-7. The presented results are satisfying and shows that flight experiments and simulations of the quadcopter control using haptics is a novel area of research which helps perform operations more successfully and give more control to the operator when operating in difficult environments. By using haptic accidents can be minimised and the functional performance of the operator and the UAV will be significantly enhanced. This concept and area of research of haptic control can be further developed accordingly to the needs of specific applications
The use of modern tools for modelling and simulation of UAV with Haptic
Unmanned Aerial Vehicle (UAV) is a research field in robotics which is in high demand in recent years, although there still exist many unanswered questions. In contrast, to the human operated aerial vehicles, it is still far less used to the fact that people are dubious about flying in or flying an unmanned vehicle. It is all about giving the control right to the computer (which is the Artificial Intelligence) for making decisions based on the situation like human do but this has not been easy to make people understand that it’s safe and to continue the enhancement on it. These days there are many types of UAVs available in the market for consumer use, for applications like photography to play games, to map routes, to monitor buildings, for security purposes and much more. Plus, these UAVs are also being widely used by the military for surveillance and for security reasons. One of the most commonly used consumer product is a quadcopter or quadrotor.
The research carried out used modern tools (i.e., SolidWorks, Java Net Beans and MATLAB/Simulink) to model controls system for Quadcopter UAV with haptic control system to control the quadcopter in a virtual simulation environment and in real time environment. A mathematical model for the controlling the quadcopter in simulations and real time environments were introduced. Where, the design methodology for the quadcopter was defined. This methodology was then enhanced to develop a virtual simulation and real time environments for simulations and experiments. Furthermore, the haptic control was then implemented with designed control system to control the quadcopter in virtual simulation and real time experiments.
By using the mathematical model of quadcopter, PID & PD control techniques were used to model the control setup for the quadcopter altitude and motion controls as work progressed. Firstly, the dynamic model is developed using a simple set of equations which evolves further by using complex control & mathematical model with precise function of actuators and aerodynamic coefficients Figure5-7. The presented results are satisfying and shows that flight experiments and simulations of the quadcopter control using haptics is a novel area of research which helps perform operations more successfully and give more control to the operator when operating in difficult environments. By using haptic accidents can be minimised and the functional performance of the operator and the UAV will be significantly enhanced. This concept and area of research of haptic control can be further developed accordingly to the needs of specific applications
Rotary-wing MAV Modeling & Control for indoor scenarios
This paper is about modeling and control of Miniature Aerial Vehicles ¿MAVs for indoor scenarios, specially using, micro coaxial and quadrotor systems. Mathematical models for simulation and control are introduced and subsequently applied to the commercial aircraft: the DraganFlyer quadrotor and the Micro-Mosquito coaxial flying vehicle. The MAVs have been hardware-modified in order to perform experimental autonomous flight. A novel approach for control based on Hybrid Backstepping and the Frenet-Serret theory is used for attitude stabilization (Backstepping+FST), introducing a desired attitude angle acceleration function dependent on aircraft velocity. Results of autonomous hovering and tracking are presented based on the scheme we propose for control and attitude stabilization when MAV is maneuvering at moderate speeds
Real-time control architecture for a multi UAV test bed
The purpose of this thesis is to develop a control architecture running at real-time for a multi unmanned aerial vehicle test bed formed by three AscTec Hummingbird mini quadrotors. The reliable and reconfigurable architecture presented here has a FPGA-based embedded system as main controller. Under the implemented control system, different practical applications have been performed in the MARHES Lab at the University of New Mexico as part of its research in cooperative control of mobile aerial agents. This thesis also covers the quadrotor modeling, the design of a position controller, the real-time architecture implementation and the experimental flight tests. A hybrid approach combining first-principles with system identification techniques is used for modeling the quadrotor due to the lack of information around the structure of the onboard controller designed by AscTec. The complete quadrotor model structure is formed by a black-box subsystem and a point-mass submodel. Experimental data have been gathered for system identification and black-box submodel validation purposes; while the point-mass submodel is found applying rigid-body dynamics. Using the dynamical model, a position control block based in lead-lag and PI compensators is developed and simulated. Improvements in trajectory tracking performance are achieved estimating the linear velocity of the aerial robot and incorporating velocity lead-lag compensators to the control approach. The velocity of the aerial robot is computed by numerical differentiation of position data. Simulation results to a variety of input signals of the control block in cascade with the complete dynamic model of the quadrotor are included. The control block together with the velocity estimation is fully programmed in the embedded controller. A graphical user interface, GUI, as part of the architecture is designed to display real-time data of position and orientation streamed from the motion tracking system as well as to contain useful user controllers. This GUI facilitates that a single operator conducts and oversees all aspects of the different applications where one or multiple quadrotors are used. Experimental tests have helped to tune the control parameters determined by simulation. The performance of the whole architecture has been validated through a variety of practical applications. Autonomous take off, hovering and landing, target surveillance, trajectory tracking and suspended payload transportation are just some of the applications carried out employing the real-time control architecture proposed in this thesis
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