The role of closed-loop attitude dynamics in adaptive UAV position control

This paper presents the design and the stability analysis of an adaptive position controller for Unmanned Aerial Vehicles (UAVs). Considering a hierarchical control scheme, the novelty of this work is the definition of a systematic approach to design a position controller based on Model Reference Adaptive Control (MRAC) theory taking into account not-fast closed-loop attitude dynamics. After having reformulated the problem considering the attitude dynamics as pseudo-actuator, the authors exploit an existing Linear Matrix Inequality (LMI) based hedging framework designed such that the adaptation performance is not affected by the presence of actuator dynamics. Results from simulations and from experiments on a platform designed to replicate the longitudinal motion of quadrotors are provided to illustrate the performance of the proposed control scheme

Global magnetic attitude control of spacecraft in the presence of gravity gradient

Published versio

Beyond Simulation: Computer Aided Control System Design Using Equation-Based Object Oriented Modelling for the Next Decade

After 20 years since their birth, equation-oriented and object-oriented modelling techniques and tools are now mature, as far as solving simulation problems is concerned. Conversely, there is still much to be done in order to provide more direct support for the design of advanced, model-based control systems, starting from object-oriented plant models. Following a brief review of the current state of the art in this field, the paper presents some proposals for future developments: open model exchange formats, automatic model-order reduction techniques, automatic derivation of simplified transfer functions, automatic derivation of LFT models, automatic generation of inverse models for robotic systems, and support for nonlinear model predictive control

Síndrome de boca ardiente: actualización

El síndrome de la boca ardiente (SBA)es una entidad nosológica, más frecuente en mujeres menopáusicas. Su principal característica es una sintomatología urente y/o dolorosa de la mucosa bucal (principalmente en la lengua), sin hallazgos clínicos aparentes que expliquen la aparición de esta sensación. Se encuentra relacionado con una serie de factores locales y sistémicos posibles desencadenantes, por lo que se considera de etiología multifactorial. El tratamiento va dirigido a mejorar la sintomatología y controlar los factores. Las terapias propuestas consistentes en control de factores locales, factores sistémicos y psicológicos y algunas indicaciones farmacológicas, proporcionan resultados mediocres. En términos generales, el SBA continúa siendo objeto de estudios en el ámbito de la medicina bucal en busca de un diagnóstico más preciso y de una terapéutica más eficaz

Leonardo Drone Contest Autonomous Drone Competition: Overview, Results, and Lessons Learned from Politecnico di Milano Team

In this paper, the Politecnico di Milano solutions proposed for the Leonardo Drone Contest (LDC) are presented. The Leonardo Drone Contest is an annual autonomous drone competition among universities, which has already seen the conclusion of its second edition. In each edition, the participating teams were asked to design and build an autonomous multicopter, capable of accomplishing complex tasks in an indoor urban-like environment. To reach this goal, the designed systems should be capable of navigating in a Global Navigation Satellite System (GNSS)-denied environment with autonomous decision making, online planning and collision avoidance capabilities. In this light, the authors describe the first two editions of the competition, i.e., their rules, objectives and overview of the proposed solutions. While the first edition is presented as relevant for the experience and takeaways acquired from it, the second edition solution is analyzed in detail, providing both the simulation and experimental results obtained

Loading and haulage in quarries: criteria for the selection of excavator - dumper system

The optimisation of loading and haulage is one of the most important issues for the yield of quarrying activities. Many external factors may affect loading and haulage system selection: amongst them a very important role is played by local topography, stability conditions, size of the excavated material and capacity of the crusher. Of course, loading and haulage equipments affect one another and should be matched in order to get an efficient system, considering both production and economical aspects; selection criteria should be mainly based on: optimisation of loading system (sometimes working as excavation equipment too); optimisation of haulage system (in terms of both single equipment and fleet); optimisation of maintenance programs and organisation (in terms of availability of the system). In particular, the paper deals with the hydraulic excavator – dumper (or truck) system, focusing on the relations between the technical characteristics of the equipments. Many loading and haulage operations have been analysed in different Italian open cast mines and quarries, in order to identify the best working relations and to derive a simple procedure for a proper selection