Design and control of quadrotors with application to autonomous flying

This thesis is about modelling, design and control of Miniature Flying Robots (MFR) with a focus on Vertical Take-Off and Landing (VTOL) systems and specifically, micro quadrotors. It introduces a mathematical model for simulation and control of such systems. It then describes a design methodology for a miniature rotorcraft. The methodology is subsequently applied to design an autonomous quadrotor named OS4. Based on the mathematical model, linear and nonlinear control techniques are used to design and simulate various controllers along this work. The dynamic model and the simulator evolved from a simple set of equations, valid only for hovering, to a complex mathematical model with more realistic aerodynamic coefficients and sensor and actuator models. Two platforms were developed during this thesis. The first one is a quadrotor-like test-bench with off-board data processing and power supply. It was used to safely and easily test control strategies. The second one, OS4, is a highly integrated quadrotor with on-board data processing and power supply. It has all the necessary sensors for autonomous operation. Five different controllers were developed. The first one, based on Lyapunov theory, was applied for attitude control. The second and the third controllers are based on PID and LQ techniques. These were compared for attitude control. The fourth and the fifth approaches use backstepping and sliding-mode concepts. They are applied to control attitude. Finally, backstepping is augmented with integral action and proposed as a single tool to design attitude, altitude and position controllers. This approach is validated through various flight experiments conducted on the OS4

ヘクサコプターのための耐故障制御と視覚に基づくナビゲーション

学位の種別:課程博士University of Tokyo(東京大学

Evolutionary robotics in high altitude wind energy applications

Recent years have seen the development of wind energy conversion systems that can exploit the superior wind resource that exists at altitudes above current wind turbine technology. One class of these systems incorporates a flying wing tethered to the ground which drives a winch at ground level. The wings often resemble sports kites, being composed of a combination of fabric and stiffening elements. Such wings are subject to load dependent deformation which makes them particularly difficult to model and control. Here we apply the techniques of evolutionary robotics i.e. evolution of neural network controllers using genetic algorithms, to the task of controlling a steerable kite. We introduce a multibody kite simulation that is used in an evolutionary process in which the kite is subject to deformation. We demonstrate how discrete time recurrent neural networks that are evolved to maximise line tension fly the kite in repeated looping trajectories similar to those seen using other methods. We show that these controllers are robust to limited environmental variation but show poor generalisation and occasional failure even after extended evolution. We show that continuous time recurrent neural networks (CTRNNs) can be evolved that are capable of flying appropriate repeated trajectories even when the length of the flying lines are changing. We also show that CTRNNs can be evolved that stabilise kites with a wide range of physical attributes at a given position in the sky, and systematically add noise to the simulated task in order to maximise the transferability of the behaviour to a real world system. We demonstrate how the difficulty of the task must be increased during the evolutionary process to deal with this extreme variability in small increments. We describe the development of a real world testing platform on which the evolved neurocontrollers can be tested

Aerial Vehicles

This book contains 35 chapters written by experts in developing techniques for making aerial vehicles more intelligent, more reliable, more flexible in use, and safer in operation.It will also serve as an inspiration for further improvement of the design and application of aeral vehicles. The advanced techniques and research described here may also be applicable to other high-tech areas such as robotics, avionics, vetronics, and space

Proceedings of the 9th Conference on Autonomous Robot Systems and Competitions

Welcome to ROBOTICA 2009. This is the 9th edition of the conference on Autonomous Robot Systems and Competitions, the third time with IEEE‐Robotics and Automation Society Technical Co‐Sponsorship. Previous editions were held since 2001 in Guimarães, Aveiro, Porto, Lisboa, Coimbra and Algarve. ROBOTICA 2009 is held on the 7th May, 2009, in Castelo Branco , Portugal. ROBOTICA has received 32 paper submissions, from 10 countries, in South America, Asia and Europe. To evaluate each submission, three reviews by paper were performed by the international program committee. 23 papers were published in the proceedings and presented at the conference. Of these, 14 papers were selected for oral presentation and 9 papers were selected for poster presentation. The global acceptance ratio was 72%. After the conference, eighth papers will be published in the Portuguese journal Robótica, and the best student paper will be published in IEEE Multidisciplinary Engineering Education Magazine. Three prizes will be awarded in the conference for: the best conference paper, the best student paper and the best presentation. The last two, sponsored by the IEEE Education Society ‐ Student Activities Committee. We would like to express our thanks to all participants. First of all to the authors, whose quality work is the essence of this conference. Next, to all the members of the international program committee and reviewers, who helped us with their expertise and valuable time. We would also like to deeply thank the invited speaker, Jean Paul Laumond, LAAS‐CNRS France, for their excellent contribution in the field of humanoid robots. Finally, a word of appreciation for the hard work of the secretariat and volunteers. Our deep gratitude goes to the Scientific Organisations that kindly agreed to sponsor the Conference, and made it come true. We look forward to seeing more results of R&D work on Robotics at ROBOTICA 2010, somewhere in Portugal

Unmanned Robotic Systems and Applications

This book presents recent studies of unmanned robotic systems and their applications. With its five chapters, the book brings together important contributions from renowned international researchers. Unmanned autonomous robots are ideal candidates for applications such as rescue missions, especially in areas that are difficult to access. Swarm robotics (multiple robots working together) is another exciting application of the unmanned robotics systems, for example, coordinated search by an interconnected group of moving robots for the purpose of finding a source of hazardous emissions. These robots can behave like individuals working in a group without a centralized control

Development of a guidance, navigation and control architecture and validation process enabling autonomous docking to a tumbling satellite

Thesis (Sc. D.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2007.Includes bibliographical references (p. 307-324).The capability to routinely perform autonomous docking is a key enabling technology for future space exploration, as well as assembly and servicing missions for spacecraft and commercial satellites. Particularly, in more challenging situations where the target spacecraft or satellite is tumbling, algorithms and strategies must be implemented to ensure the safety of both docking entities in the event of anomalies. However, difficulties encountered in past docking missions conducted with expensive satellites on orbit have indicated a lack of maturity in the technologies required for such operations. Therefore, more experimentation must be performed to improve the current autonomous docking capabilities. The main objectives of the research presented in this thesis are to develop a guidance, navigation and control (GN&C) architecture that enables the safe and fuel-efficient docking with a free tumbling target in the presence of obstacles and anomalies, and to develop the software tools and verification processes necessary in order to successfully demonstrate the GN&C architecture in a relevant environment. The GN&C architecture was developed by integrating a spectrum of GN&C algorithms including estimation, control, path planning, and failure detection, isolation and recovery algorithms.(cont.) The algorithms were implemented in GN&C software modules for real-time experimentation using the Synchronized Position Hold Engage and Reorient Experimental Satellite (SPHERES) facility that was created by the MIT Space Systems Laboratory. Operated inside the International Space Station (ISS), SPHERES allow the incremental maturation of formation flight and autonomous docking algorithms in a risk-tolerant, microgravity environment. Multiple autonomous docking operations have been performed in the ISS to validate the GN&C architecture. These experiments led to the first autonomous docking with a tumbling target ever achieved in microgravity. Furthermore, the author also demonstrated successful docking in spite of the presence of measurement errors that were detected and rejected by an online fault detection algorithm. The results of these experiments will be discussed in this thesis. Finally, based on experiments in a laboratory environment, the author establishes two processes for the verification of GN&C software prior to on-orbit testing on the SPHERES testbed.by Simon Nolet.Sc.D

Autonomous Aerial Manipulation Using a Quadrotor

This paper presents an implementation of autonomous indoor aerial gripping using a low-cost, custom-built quadrotor. Such research extends the typical functionality of micro air vehicles (MAV) from passive observation and sensing to dynamic interaction with the environment. To achieve this, three major challenges are overcome: precise positioning, sensing and manipulation of the object, and stabilization in the presence of disturbance due to interaction with the object. Navigation in both indoor and outdoor unstructured, Global Positioning System-denied (GPS-denied) environments is achieved using a visual Simultaneous Localization and Mapping (SLAM) algorithm that relies on an onboard monocular camera. A secondary camera, capable of detecting infrared light sources, is used to estimate the 3D location of the object, while an under-actuated and passively compliant manipulator is designed for effective gripping under uncertainty. The system utilizes nested ProportionalIntegral-Derivative (PID) controllers for attitude stabilization, vision-based navigation, and gripping. The quadrotor is therefore able to autonomously navigate, locate, and grasp an object, using only onboard sensors

Aeronautics and space report of the President, 1982 activities

Achievements of the space program are summerized in the area of communication, Earth resources, environment, space sciences, transportation, aeronautics, and space energy. Space program activities of the various deprtments and agencies of the Federal Government are discussed in relation to the agencies' goals and policies. Records of U.S. and world spacecraft launchings, successful U.S. launches for 1982, U.S. launched applications and scientific satellites and space probes since 1975, U.S. and Soviet manned spaceflights since 1961, data on U.S. space launch vehicles, and budget summaries are provided. The national space policy and the aeronautical research and technology policy statements are included

Semiannual review of research and advanced development, 1 January - 30 June 1969. Volume 2 - /OART/

Supporting research and technology on spacecraft propulsion and electronic system