Fuzzy Gain-Scheduling PID for UAV Position and Altitude Controllers

Unmanned aerial vehicle (UAV) applications have evolved to a wide range of fields in the last decade. One of the main challenges in autonomous tasks is the UAV stability during maneuvers. Thus, attitude and position control play a crucial role in stabilizing the vehicle in the desired orientation and path. Many control techniques have been developed for this. However, proportional integral derivative (PID) controllers are often used due their structure and efficiency. Despite PID’s good performance, different requirements may be present at different mission stages. The main contribution of this research work is the development of a novel strategy based on a fuzzy-gain scheduling mechanism to adjust the PID controller to stabilize both position and altitude. This control strategy must be effective, simple, and robust to uncertainties and external disturbances. The Robot Operating System (ROS) integrates the proposed system and the flight control unit. The obtained results showed that the proposed approach was successfully applied to the trajectory tracking and revealed a good performance compared to conventional PID and in the presence of noises. In the tests, the position controller was only affected when the altitude error was higher, with an error of 2% lower.publishedVersio

La gestion des connaissances comme moteur de la prévention et de performance

International audienceAnalytical methods in engineering and economics have been proposing that investments in safety lead to improvements in performance. However, no research has proposed a management approach that studies the organizational elements that conceive safety management as a source of strategical performance to a company. In this study, we aim to shed light into a possible theoretical path that could bridge this issue in the construction industry. We present a framework explaining how Knowledge Management can leverage both worlds under the condition of having a psychological safe environment. After, we draw final considerations, limitations, and indications to further studies

La Gestion des Connaissances comme moteur de la prévention et des contraintes de performance

International audienceAnalytical methods in engineering and economics have been proposing that investments in safety lead to improvements in performance. However, no research has proposed a management approach that studies the organizational elements that conceive safety management as a source of strategical performance to a company. In this study, we aim to shed light into a possible theoretical path that could bridge this issue in the construction industry. We present a framework explaining how Knowledge Management can leverage both worlds under the condition of having a psychological safe environment. After, we draw final considerations, limitations, and indications to further studies

Can we break organizational beliefs in the construction sector? Investigating possible paths to Safety Performance Measurements research

International audienceThe construction industry is claimed to be the most lethal economic sector. Despite efforts to include safety as a relevant indicator, managers are still trying to figure out which organizational buttons they need to push to unleash safety performance. To investigate this problem, we draw from performance measurement lens to develop a systematic literature review aided by VOSviewer to localize safety performance measurement papers within organizational levels. We have found that safety studies are localized in the individual and micro-organizational levels, lacking a connection with macro-organizational level, and firm's organizational performance. We then underpin further investigation on this subject to allow better integration of safety into company's management system and adjacent performance measurements. By doing so we aim to push future studies on this field to conceive safety as a source of organizational performance

LOCATING PERFORMANCE MEASUREMENTS IN CONSTRUCTION SECTOR COMPANIES: TO WHERE SHOULD WE GO?

International audienceThe construction industry is claimed to be the most lethal economic sector. Despite efforts to include safety as a relevant indicator, managers are still trying to figure out which organizational buttons they need to push to unleash safety performance. To investigate this problem, we draw from performance measurement lens to develop a systematic literature review aided by VOSviewer and to localize safety performance measurement papers within organizational levels. We have found that safety studies are localized in the individual and micro-organizational levels, lacking a connection with macro-organizational level, and firm’s organizational performance. We then underpin further investigation on this subject to allow better integration of safety into company’s management system and adjacent performance measurements. By doing so we aim to push future studies on this field to conceive safety as a source of organizational performance