1,580 research outputs found
The adaptive control system of quadrocopter motion
In this paper we present a system for automatic control of a quadrocopter based on the adaptive control system. The task is to ensure the motion of the quadrocopter along the given route and to control the stabilization of the quadrocopter in the air in a horizontal or in a given angular position by sending control signals to the engines. The nonlinear model of a quadrocopter is expressed in the form of a linear non-stationary system
The adaptive control system of quadrocopter motion
In this paper we present a system for automatic control of a quadrocopter based on the adaptive control system. The task is to ensure the motion of the quadrocopter along the given route and to control the stabilization of the quadrocopter in the air in a horizontal or in a given angular position by sending control signals to the engines. The nonlinear model of a quadrocopter is expressed in the form of a linear non-stationary system
Towards the development of a smart flying sensor: illustration in the field of precision agriculture
Sensing is an important element to quantify productivity, product quality and to make decisions. Applications, such as mapping, surveillance, exploration and precision agriculture, require a reliable platform for remote sensing. This paper presents the first steps towards the development of a smart flying sensor based on an unmanned aerial vehicle (UAV). The concept of smart remote sensing is illustrated and its performance tested for the task of mapping the volume of grain inside a trailer during forage harvesting. Novelty lies in: (1) the development of a position-estimation method with time delay compensation based on inertial measurement unit (IMU) sensors and image processing; (2) a method to build a 3D map using information obtained from a regular camera; and (3) the design and implementation of a path-following control algorithm using model predictive control (MPC). Experimental results on a lab-scale system validate the effectiveness of the proposed methodology
Geometric Adaptive Control for a Quadrotor UAV with Wind Disturbance Rejection
This paper presents a geometric adaptive control scheme for a quadrotor
unmanned aerial vehicle, where the effects of unknown, unstructured
disturbances are mitigated by a multilayer neural network that is adjusted
online. The stability of the proposed controller is analyzed with Lyapunov
stability theory on the special Euclidean group, and it is shown that the
tracking errors are uniformly ultimately bounded with an ultimate bound that
can be abridged arbitrarily. A mathematical model of wind disturbance on the
quadrotor dynamics is presented, and it is shown that the proposed adaptive
controller is capable of rejecting the effects of wind disturbances
successfully. These are illustrated by numerical examples
Aerial Manipulation: A Literature Review
Aerial manipulation aims at combining the versatil- ity and the agility of some aerial platforms with the manipulation capabilities of robotic arms. This letter tries to collect the results reached by the research community so far within the field of aerial manipulation, especially from the technological and control point of view. A brief literature review of general aerial robotics and space manipulation is carried out as well
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