We present a novel, deeply embedded robotics middleware and programming environment. It uses a multithreaded, publish-subscribe design pattern and provides a Unix-like software interface for micro controller applications. We improve over the state of the art in deeply embedded open source systems by providing a modular and standards-oriented platform. Our system architecture is centered around a publish-subscribe object request broker on top of a POSIX application programming interface. This allows to reuse common Unix knowledge and experience, including a bash-like shell. We demonstrate with a vertical takeoff and landing (VTOL) use case that the system modularity is well suited for novel and experimental vehicle platforms. We also show how the system architecture allows a direct interface to ROS and to run individual processes either as native ROS nodes on Linux or nodes on the micro controller, maximizing interoperability. Our microcontroller-based execution environment has substantially lower latency and better hardware connectivity than a typical Robotics Linux system and is therefore well suited for fast, high rate control tasks.

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PX4: A node-based multithreaded open source robotics framework for deeply embedded platforms

Parametric uncertainties and coupled nonlinear dynamics are inherent in quadrotor configuration and infer adaptive nonlinear approaches to be used for flight control system. Numerous adapt...

Nonlinear and Adaptive Intelligent Control Techniques for Quadrotor UAV – A Survey

The present application discloses a remote control method and apparatus for controlling the state of a movable object and/or a load carried thereon. The remote control method comprising: receiving, via an apparatus, a state signal that corresponds to a user's position; remote-controlling the state of the a load being carried on a movable object based on the state signal; wherein the state of the load is the result of combining the movement of the load relative to the movable object and the movement of the object relative to its environment. For example, the control of the state can be achieved through the state of the apparatus itself, a user's state captured by an apparatus, a graphical interface on a screen of an apparatus, or a voice command.

Remote control method and terminal

In this paper, a quadcopter unmanned aerial vehicle (UAV) system based on neural-network enhanced dynamic inversion control is proposed for multiple real-world application scenarios. A sigma-pi neural network (SPNN) is used as the compensator to reduce the model error and improve the system performance in the presence of the uncertainties of UAV dynamics, payload, and environment. Besides, we present a technical framework for fast and robust implementation of multipurpose UAV systems and develop a testbed for the evaluation of UAV control system by using a high-precision optical motion capture system. Both simulation results and experiment results demonstrate that the SPNN can reduce the inversion errors related to UAV parameter uncertainties as well as tracking errors related to unknown disturbances and unmodeled dynamics. With the help of an online neural network (NN) learning mechanism, the entire system can achieve much higher accuracy in attitude and trajectory control than that achieved by conventional proportional-integral derivative based control systems under varying flight conditions.

Design, Implementation, and Evaluation of a Neural-Network-Based Quadcopter UAV System

I would like to thank my supervisor Prof. Maki K. Habib for all his help, support and guidance.

I would like to thank my mom and dad for their continuous support, for always pushing me forward and for providing me with the calm environment to work in.

This work is dedicated to my fiance Sherif, without your encouragement, I would not have been here today. Thank you for always believing in me and pushing me forward.

My good friend Amr Nagaty, words cannot express how thankful I am for all what you have done.

Last but not least, my best friends Ingee, Marium, Mohamed Shalaby, Marwa, Sara, Mary, Omar Shehata and Tarek, thank you for always being there for me and encouraging me through the tough times.

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Dynamic modeling and control of a Quadrotor using linear and nonlinear approaches

Quadrotor helicopters are an increasingly popular rotorcraft for unmanned aerial vehicle (UAV) platforms. Many groups have worked on quadrotors and realized various controllers and scenarios for it. And PID controller, because of simple structure, good stability and less dependence on the model, plays an important role in quadrotor control. This paper presents an application of Self-tuning PID controller based on adaptive pole placement to a quadrotor. This controller can tune the PID parameters online according to the system change. And the simulation results show that the designed flight controller can achieve accurate control for quadrotor with enough adaptability and robustness.

Self-tuning PID control design for quadrotor UAV based on adaptive pole placement control

The invention discloses a ground station of a universalized configurable unmanned aerial vehicle, belonging to the technical field of unmanned aerial vehicle control. The ground station comprises a task planning module, a HOTAS (Hands on the Throttle and Stick) and pedal manipulation data acquisition module, a voice identifying and alarming module, an electronic flying information module and a multi-point touch module which are deployed on a computer A, and a flying information communication module, a training communication module, an aircraft adapting module, a databank module, a voice and video acquisition module and a 3D (Three-dimensional) view display module which are deployed on a computer B. On the basis that the psychological and physiological characteristics of a unmanned aerial vehicle manipulator are considered, the comprehensive problems of flying control and task control, and the problems of three-dimensional information sensation and fatigue caused by long-time operation are solved well; the universalization of the ground station of the unmanned aerial vehicle is realized; and the repeated construction is reduced.

Ground station of universalized configurable unmanned aerial vehicle

An oblique cross quad rotor UAV is designed and assembled. To achieve autonomous flight control, a nonlinear dynamic model is investigated. Then an adaptive flight control theory, based on dynamic inversion and linear neural network, is introduced to the control of the UAV. Based on the time-scale separation principle, an attitude dynamic inverse controller and a trajectory dynamic inverse controller are deduced respectively according to the nominal nonlinear model. The inverse error dynamics is regulated with a PD controller. A Sigma-Pi neural network is introduced to eliminate the inverse error adaptively to improve the robustness of the controller. To verify the flight controller, two group simulations are conducted: the first is to validate the robustness of the attitude controller under severe parameter uncertainty. Then a compound MTE (mission-task-elements) simulation, which includes pirouette and vertical maneuver, is applied to the verification of the flight control system. The simulation results including an imitation of inverse error and disturbance moments are provided. The demonstrations show that the designed flight control system has adaptability and robustness and can achieve accurate attitude and trajectory control.

Adaptive Flight Control Design for Quadrotor UAV Based on Dynamic Inversion and Neural Networks

The invention discloses a composite type multi-mode multi-purpose aircraft, and belongs to the technical field of overall design of aviation flight vehicles. The aircraft comprises a body of a fixed wing aircraft, a driving/autorotation rotor wing system, an expelling aero-engine and a flying control system, wherein the driving/autorotation rotor wing system comprises paddle hubs and paddles; the paddles are hollow, and guide tubes B are communicated with the inner parts of the paddles; an H2O2 catalysis decomposition engine is mounted at the tail end of each paddle; the H2O2 catalysis decomposition engines are connected with the guide tubes; the guide tubes are communicated with guide tubes A; the guide tubes A are connected with an H2O2 storage box. The aircraft disclosed by the invention has the property of vertical/short-distance lifting and suspension, or even can achieve certain back flying and side flying, and can also fly forwards at a high speed; due to adoption of paddle tip air injection driving/autorotation wings, no reaction torque is generated in any mode, and thus a tail rotor as well as a speed reduction transmission and control mechanism of an ordinary helicopter are canceled; the differential thrust for thrusting an aero-engine is adopted to control to achieve steadiness and control in flying direction at a low speed, the waste weight and the energy consumption are reduced, the cost is lowered, the complexity is alleviated, and the flying security in a complex environment is effectively improved.

Composite type multi-mode multi-purpose aircraft

Quadrotor helicopter is an increasingly popular rotorcraft platform for unmanned aerial vehicle (UAV) study. Development of a mathematical model with accurate model parameters for quadrotor is extremely beneficial to control the system. But accurate measurement of numerous vehicle parameters would be especially challenging. In this paper, a system identification method for the quadrotor model parameter identification based on genetic algorithm is proposed. Using the real flight input and output information, the genetic algorithm can identify the model parameters. And the results show that the identified parameters with genetic algorithm have an acceptable accuracy.

Qing Lin

Papers

Self-tuning PID control design for quadrotor UAV based on adaptive pole placement control

Ground station of universalized configurable unmanned aerial vehicle

Adaptive Flight Control Design for Quadrotor UAV Based on Dynamic Inversion and Neural Networks

Composite type multi-mode multi-purpose aircraft

System identification of quadrotor UAV based on genetic algorithm