Design of an embedded microcomputer based mini quadrotor UAV

This paper describes the design and realization of a mini quadrotor UAV (Unmanned Aerial Vehicle) that has been initiated in the Systems and Control Laboratory at the Computer and Automation Research institute of the Hungarian Academy of Science in collaboration with control departments of the Budapest University of Technology and Economics. The mini quadrotor UAV is intended to use in several areas such as camera-based air-surveillance, traffic control, environmental measurements, etc. The paper focuses upon the embedded microcomputer-based implementation of the mini UAV, describes the elements of the implementation, the tools realized for mathematical model building, as well as obtains a brief outline of the control design

A Simple Landing Gear Simulation Model for Unmanned Aerial Vehicles

This paper deals with the simple but realisticsimulation of the landing gear ofsmall unmanned aerial vehicles (UAVs). Themain goal is to have simulation environments(software-in-the-loop (SIL) and hardware-inthe-loop (HIL)) applicable in the testing offlight control and estimation algorithms fromtake-off to landing. Small UAVs without gearbraking are considered so it is mandatory todescribe the stopping of aircraft purely withthe frictional forces. The developed modelis capable to simulate aircraft motion fromaircraft resting on the ground through takeoffand landing until aircraft rests again onground. The parameters of the model aretuned experimentally for a specified smallUAV. Finally, SIL simulation results are published

Elemzések az inflációról = Essays on inflation

Az értekezés négy önálló tanulmányból áll, amelyek témáját összeköti, hogy mindegyik szorosan kapcsolódik az infláció megértéséhez, és az árazási viselkedés vizsgálatához

LQ Servo control design with Kalman filter for a quadrotor UAV

This paper deals with reference signal tracking control of a quadrotor UAV (Unmanned Aerial Vehicle). Before controller design, a nonlinear simulation model is needed, to be the base of design and the first testbed for the resulted controllers. The next step should be the linearization of the nonlinear model in hovering mode, and the reduction of the resulted linear model. The reduced linear model is controllable and observable. The control goal was to track a spatial trajectory with the helicopter center of gravity. For this purpose, an LQ Servo controller (with double integrator) was designed, augmented with a Kalman filter state observer. The resultant controller provided good tracking performance for a slowly varying reference signal, also on the nonlinear model! After the transient response, the tracking error was below 1 cm which provides safe handling even in indoor applications. The time of transients was approximately 4 seconds which is acceptable