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

Intelligent control of miniature holonomic vertical take-off and landing robot

This paper discusses the development of a fuzzy based controller for miniaturized unmanned aerial vehicle (UAV).This controller is designed to control the center-of-gravity (CoG) in a new configuration of coaxial miniaturized flying robot (MFR). The idea is to shift the CoG by controlling two pendulums located in perpendicular directions; each pendulum ends with a small mass. A key feature of this work is that the control algorithm represents the original nonlinear function that describes the dynamics of the proposed system. The controller model incorporates two cascaded subsystems: PD and PI fuzzy logic controllers. These two controllers regulate the attitude and the position of the flying robot, respectively. A model of the proposed controllers has been developed and evaluated in terms of stability and maneuverability. The results show that the presented control system can be used efficiently for the MFR applications

Towards an autonomous landing system in presence of uncertain obstacles in indoor environments

The landing task is fundamental to Micro air vehicles (MAVs) when attempting to land in an unpredictable environment (e.g., presence of static obstacles or moving obstacles). The MAV should immediately detect the environment through its sensors and decide its actions for landing. This paper addresses the problem of the autonomous landing approach of a commercial AR. Drone 2.0 in presence of uncertain obstacles in an indoor environment. A localization methodology to estimate the drone's pose based on the sensor fusion techniques which fuses IMU and Poxyz signals is proposed. In addition, a vision-based approach to detect and estimate the velocity, position of the moving obstacle in the drone's working environment is presented. To control the drone landing accurately, a cascade control based on an Accelerated Particle Swarm Optimization algorithm (APSO) is designed. The simulation and experimental results demonstrate that the obtained model is appropriate for the measured data

Advanced Feedback Linearization Control for Tiltrotor UAVs: Gait Plan, Controller Design, and Stability Analysis

Three challenges, however, can hinder the application of Feedback Linearization: over-intensive control signals, singular decoupling matrix, and saturation. Activating any of these three issues can challenge the stability proof. To solve these three challenges, first, this research proposed the drone gait plan. The gait plan was initially used to figure out the control problems in quadruped (four-legged) robots; applying this approach, accompanied by Feedback Linearization, the quality of the control signals was enhanced. Then, we proposed the concept of unacceptable attitude curves, which are not allowed for the tiltrotor to travel to. The Two Color Map Theorem was subsequently established to enlarge the supported attitude for the tiltrotor. These theories were employed in the tiltrotor tracking problem with different references. Notable improvements in the control signals were witnessed in the tiltrotor simulator. Finally, we explored the control theory, the stability proof of the novel mobile robot (tilt vehicle) stabilized by Feedback Linearization with saturation. Instead of adopting the tiltrotor model, which is over-complicated, we designed a conceptual mobile robot (tilt-car) to analyze the stability proof. The stability proof (stable in the sense of Lyapunov) was found for a mobile robot (tilt vehicle) controlled by Feedback Linearization with saturation for the first time. The success tracking result with the promising control signals in the tiltrotor simulator demonstrates the advances of our control method. Also, the Lyapunov candidate and the tracking result in the mobile robot (tilt-car) simulator confirm our deductions of the stability proof. These results reveal that these three challenges in Feedback Linearization are solved, to some extents.Comment: Doctoral Thesis at The University of Toky

Design, Modeling, and Control of a Flying-Insect-Inspired Quadrotor with Rotatable Arms

Aerial manipulation and delivery using quadrotors are becoming more and more popular in recent years. However, the displacement of the center of gravity (CoG) is a common issue experienced by these applications due to various eccentric payloads carried. Conventional quadrotors with eccentric payloads are usually stabilized by robust control strategies through adjusting rotation speeds of BLDC motors, which has negative effects on stability and energy efficiency of quadrotors. In this thesis, a flying-insect-inspired quadrotor with rotatable arms is proposed. With four rotatable arms, the proposed quadrotor can automatically estimate the displacement of the CoG and drive the four arms to their optimal positions during flight. In this way, the proposed quadrotor can move its symmetric center to the CoG of the quadrotor with the eccentric payload to increase its stability and energy efficiency. The design, dynamics modeling, and control strategy of the proposed quadrotor are presented in this thesis. Both calculation and experiment results show that the proposed quadrotor with rotatable arms has better flight performance of stability and energy efficiency than the conventional quadrotor with fixed arms