Advanced Motor Control for Improving the Trajectory Tracking Accuracy of a Low-Cost Mobile Robot

This research was funded by the Grant PID2019-111278RB-C21 funded by MCIN/AEI/ 10.13039/501100011033 and “ERDF A way of making Europe”.Peer reviewedPublisher PD

Reducing the Noise Impact of Unmanned Aerial Vehicles by Flight Control System Augmentation

The aim of this thesis is to explore methods to reduce the noise impact of unmanned aerial vehicles operating within acoustically sensitive environments by flight control system augmentation. Two methods are investigated and include: (i) reduction of sound generated by vehicle speed control while flying along a nominal path and (ii) reduction of acoustic exposure by vehicle path control while flying at a nominal speed. Both methods require incorporation of an acoustic model into the flight control system as an additional control objective and an acoustic metric to characterize primary noise sources dependent on vehicle state. An acoustic model was developed based on Gutin’s work to estimate propeller noise, both to estimate source noise and observer noise using two separate acoustic metrics. These methods can potentially mitigate the noise impact of unmanned aerial systems operating near residential communities. The baseline flight control system of a representative aircraft was augmented with a control law to reduce propeller noise using feedback control of the commanded flight speed until an acoustic target was met, based on the propeller noise model. This control approach focuses on modifying flight speed only, with no perturbation to the trajectory. Multiple flight simulations were performed and the results showed that integrating an acoustic metric into the flight control system of an unmanned aerial system is possible and useful. A second method to mitigate the effects of noise on an observer was also pursued to optimize a trajectory in order to avoid an acoustically sensitive region during the path planning process. After the propeller noise model was incorporated into the vehicle system, simulations showed that it is possible to reduce the noise impact on an observer through an optimization of the trajectory with no perturbation to the flight speed

Direction‐cosine‐matrix‐based attitude control subject to actuator saturation

Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/166291/1/cth2bf00839.pd

Aeronautical engineering: A continuing bibliography with indexes (supplement 306)

This bibliography lists 181 reports, articles, and other documents recently introduced into the NASA STI Database. Subject coverage includes the following: design, construction and testing of aircraft and aircraft engines; aircraft components, equipment, and systems; ground support systems; and theoretical and applied aspects of aerodynamics and general fluid dynamics

Event-triggered Synchronization of Multi-agent Systems with Partial Input Saturation

This paper is concerned with the distributed event/self-triggered synchronization problem for general linear multi-agent systems with partial input saturation. Both the event-based and self-triggered laws are designed using the local sampled, possibly saturated, state, which ensures the bounded synchronization of the multi-agent systems, and exclusion of the Zeno-behavior. The continuous communication between agents is avoided under these triggering protocols. Different from the existing related works, we show the fully distributed design for multi-agent systems, where the synchronization criteria, the designed input laws, and the proposed triggering protocols do not depend on any global information of the communication topology. In addition, the computation load of multi-agent systems is reduced significantly