16 research outputs found

    Mini-quadrotor Attitude Control based on Hybrid Backstepping & Frenet-Serret Theory

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    This paper is about modeling and control of miniature quadrotors, with a special emphasis on attitude control. Mathematical models for simulation and nonlinear control approaches are introduced and subsequently applied to commercial aircraft: the DraganFlyer quadrotor, which has been hardware-modified in order to perform experimental autonomous flying. Hybrid Backstepping control and the Frenet-Serret theory is used for attitude stabilization, introducing a desired attitude angle acceleration function dependent on aircraft velocity. Finally, improvements on disturbance rejection and attitude tracking at moderate aircraft speeds are validated through various simulation scenarios (indoor navigation based on camera tracking), and flight experiments conducted on the DraganFlyer quadroto

    Rotary-wing MAV Modeling & Control for indoor scenarios

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    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

    Towards MAV Autonomous Flight: A Modeling and Control Approach

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    This thesis is about modeling and control of miniature rotary-wing flying vehicles, with a special emphasis on quadrotor and coaxial systems. Mathematical models for simulation and nonlinear control approaches are introduced and subsequently applied to commercial aircrafts: the DraganFlyer and the Hummingbird quadrotors, which have been hardware-modified in order to perform experimental autonomous flying. Furthermore, a first-ever approach for modeling commercial micro coaxial mechanism is presented using a flying-toy called the Micro-mosquito

    Sistem Kontrol pada Mini Quadrotor Menggunakan Metode Backstepping dengan Lintasan Frenet-Serret

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    Quadrotor merupakan salah satu jenis pesawat tanpa awak yang menggunakan empat buah rotor dan dapat dikendalikan jarak jauh. Quadrotor memiliki empat gerak dasar yang dapat mempengaruhi gerak quadrotor saat terbang, yaitu gerak sudur roll, gerak sudut pitch, gerak sudut yaw dan gerak altitude. Selain itu, quadrotor dapat menjadi sulit untuk terbang tanpa adanya sistem kontrol karena memiliki mekanisme sistem kompleks yang tidak stabil. Sistem kontrol yang digunakan pada quadrotor adalah kontrol backstepping agar dapat mengatasi masalah kestabilan saat terbang. Langkah pertama yang dilakukan adalah mengkaji penurunan persamaan model dinamik gerak rotasi dan translasi pada quadrotor. Langkah selanjutnya dilakukan perancangan sistem kontrol backstepping dengan lintasan Frenet-Serret. Setelah sistem kontrol backstepping diterapkan, maka dilakukan pengamatan hasil simulasi untuk mendapatkan respon keluaran sistem. Hasil simulasi menunjukkan bahwa respon masingmasing sudut stabil pada sudut 0.2 rad dengan waktu yang berbeda-beda. Respon ketinggian (z), posisi x dan posisi y juga stabil pada jarak 1 meter dari titik nol. =================================================================================================================== Quadrotor is typical Unmanned Aerial Vehicle (UAV) plane that uses four rotor and can be controlled remotely. Quadrotor has four basic motions that can affect the motion of the quadrotor when flying, is roll angle motion, pitch angle motion, yaw angle motion and altitude motion. In addition, quadrotor can be difficult to fly without a control system because it has an unstable complex system mechanism. The control system used in quadrotor is backstepping control in order to overcome stability problems when flying. The first step is reviewing the mathematical model's equation of dynamical rotation and translation motion in quadrotor. The next step is to designing the backstepping control system with the Frenet-Serret trajectory. After the backstepping control system is applied, simulation results are observed to obtain the system output response. The simulation results shows that the response of each angle is stable at an angle of 0.2 rad with different time. The hight(z) response, x and y position are also stable at a distance of 1 meter from the zero point

    Aerial Remote Sensing in Agriculture: A Practical Approach to Area Coverage and Path Planning for Fleets of Mini Aerial Robots

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    In this paper, a system that allows applying precision agriculture techniques is described. The application is based on the deployment of a team of unmanned aerial vehicles that are able to take georeferenced pictures in order to create a full map by applying mosaicking procedures for postprocessing. The main contribution of this work is practical experimentation with an integrated tool. Contributions in different fields are also reported. Among them is a new one-phase automatic task partitioning manager, which is based on negotiation among the aerial vehicles, considering their state and capabilities. Once the individual tasks are assigned, an optimal path planning algorithm is in charge of determining the best path for each vehicle to follow. Also, a robust flight control based on the use of a control law that improves the maneuverability of the quadrotors has been designed. A set of field tests was performed in order to analyze all the capabilities of the system, from task negotiations to final performance. These experiments also allowed testing control robustness under different weather conditions

    Quadrotor stabilization under time and space constraints using implicit PID controller

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    International audienceIn this paper, the quadrotor stabilization under time and state constraints is studied. The objective is to design a nonlinear controller under time and state constraint for quadrotor. The nonlinear quadrotor model is built by the Euler-Lagrange approach while ignoring the Coriolis terms, hub moment and force. Based on quadrotor's dynamic model, a nonlinear feedback controller is designed for the quadrotor stabilization under time and state constraints. This feedback is an implicit PID controller where the feedback gains are obtained from LMIs (Linear matrix inequalities). LMI system characterizing the system stability and convergence properties is built based on convex embedding approach and implicit Lyapunov function method. To demonstrate the application prospects of implicit PID controller, robustness analysis is provided to show the property of implicit PID controller under external disturbance. The key novelty of this paper is that the implicit PID controller is proven feasible for applying to the quadrotor under time and state constraints, which is also the main outcome

    A new coordination framework for multi-UAV formation control

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    Unmanned Aerial Vehicles (UAVs) have become very popular in the last few decades. Nowadays these vehicles are used for both civilian and military applications which are dull, dirty and dangerous for humans. The remarkable advances in materials, electronics, sensors, actuators and batteries enable researchers to design more durable, capable, smart and cheaper UAVs. Consequently, a significant amount of research effort has been devoted to the design of UAVs with intelligent navigation and control systems. There are certain applications where a single UAV can not perform adequately. However, carrying out such tasks with a fleet of UAVs in some geometric pattern or formation can be more powerful and more efficient. This thesis focuses on a new coordination scheme that enables formation control of quadrotor type UAVs. Coordination of quadrotors is achieved using a virtual structure approach where orthogonal projections of quadrotors on a virtual plane are utilized to define coordination forces. This plane implies planar spring forces acting between the vehicles. Virtual springs are also augmented with dampers to suppress oscillatory motions. While the coordination among the aerial vehicles is achieved on a virtual plane, altitude control for each vehicle is designed independently. This increases maneuvering capability of each quadrotor along the vertical direction. Due to their robustness to the external disturbances such as wind gusts, integral backstepping controllers are designed to control attitude and position dynamics of individual quadrotors. Several coordinated task scenarios are presented and the performance of the proposed formation control technique is assessed by several simulations where three and five quadrotors are employed. Simulation results are quite promising

    Modellazione e controllo avanzato di un velivolo multirotore : presso il Laboratorio di meccanica del volo

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    Grazie alla loro versatilità, i velivoli multirotore hanno ricevuto sempre più interesse durante gli ultimi anni, in ambito accademico e di recente anche industriale. Il lavoro presentato è volto a studiare e confrontare le moderne tecniche di navigazione e di controllo di questo tipo di velivoli. Difatti, spesso, gli algoritmi utilizzati sono stati limitati dalla capacità di calcolo del processore imbarcato e dalla qualità dei sensori utilizzati. Negli ultimi anni, però, lo sviluppo della microelettronica ha ricevuto un forte impulso (dovuto principalmente alla ricerca nell’ambito della telefonia), che ha portato all’abbattimento dei costi e alla nascita di progetti opensource, tra i quali le famose schede Arduino prodotte da Olivetti, attorno alle quali si sono sviluppati molti progetti di velivoli opensource. L’importanza di ciò, in ambito accademico, è rilevante, poiché consente l’utilizzo di algoritmi e di configurazioni hardware comprovati, lasciando spazio a modifiche e migliorie. Nel nostro caso, in particolare, si vuole osservare come complessi algoritmi di navigazione, resi possibili da un processore più potente, possano migliorare le prestazioni del noto progetto opensource ArduPilot [3]. Tali miglioramenti possono essere rilevanti in applicazioni per le quali sia richiesta una certa precisione nel posizionamento, come ad esempio lo studio di formazioni o la navigazione in ambienti angusti
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