Showing papers by "Rogelio Lozano published in 2005"

Modelling and Control of Mini-Flying Machines

Abstract: Modelling and Control of Mini-Flying Machinesis an exposition of models developed to assist in the motion control of various types of mini-aircraft: Planar Vertical Take-off and Landing aircraft; helicopters; quadrotor mini-rotorcraft; other fixed-wing aircraft; blimps. For each of these it propounds: detailed models derived from Euler-Lagrange methods; appropriate nonlinear control strategies and convergence properties; real-time experimental comparisons of the performance of control algorithms; review of the principal sensors, on-board electronics, real-time architecture and communications systems for mini-flying machine control, including discussion of their performance; detailed explanation of the use of the Kalman filter to flying machine localization. To researchers and students in nonlinear control and its applications Modelling and Control of Mini-Flying Machines provides valuable insights to the application of real-time nonlinear techniques in an always challenging area.

Stabilization of a mini rotorcraft with four rotors

Abstract: F light control of unmanned helicopters is an area that poses interesting problems for control researchers. The classical control strategy for helicopters assumes a linear model obtained for a particular operating point. Applying modern nonlinear control theory can improve the performance of the controller and enable the tracking of aggressive trajectories, as demonstrated in [1] for a 5-ft diameter main rotor helicopter. Civil and military applications of autonomous flying vehicles have been steadily increasing over the last few years. Traffic surveillance, air pollution monitoring, area mapping, agricultural applications, and remote inspection require high maneuverability and robustness with respect to disturbances. Since rotary wing vehicles can take off and land in limited spaces and hover above targets, these vehicles have certain advantages over conventional fixed-wing aircraft for surveillance and inspection tasks. © DIGITAL VISION Experimental implementation of linear and nonlinear control laws

Trajectory tracking for a four rotor mini-aircraft

Abstract: In this paper, we present a trajectory tracking controller design and its implementation on a mini rotorcraft having four rotors. The dynamic model of the four-rotor rotorcraft is obtained via a Lagrange approach. Trajectory generation algorithm is proposed. The proposed controller is based on Lyapunov analysis using nested saturation control algorithm. Global stability analysis of the closed-loop system is presented. Real-time experiments show that the mini-aircraft is able to track satisfactorily the desired trajectory.

Modeling and control of a small autonomous aircraft having two tilting rotors

Abstract: This paper presents recent work concerning a small tiltrotor aircraft with a reduced number of rotors. After several attempts, the final design consists of two propellers mounted laterally. The direction of the thrust can be redirected by tilting the propellers laterally and longitudinally. A theoretical analysis of this mechanism proves its effectiveness and the experimental results show that this aerodynamical configuration is very promising. A model of the full birotor dynamics is also presented in this paper and a controller based on the backstepping procedure is synthesized performing also an autonomous flight.

Stabilization and nonlinear control for a novel trirotor mini-aircraft

Abstract: We present a dynamical model of an original trirotor helicopter obtained using the Euler-Lagrange approach. The obtained nonlinear model is then used for designing a nonlinear controller based on nested saturations. The controller performance is shown in real-time experiments.

Control strategy using vision for the stabilization of an experimental PVTOL aircraft setup

Abstract: In this letter, we stabilize the planar vertical takeoff and landing (PVTOL) aircraft using a camera. The camera is used for measuring the position and the orientation of the PVTOL moving on an inclined plane. We have used a simple control strategy to stabilize the system in order to facilitate the real experiments. The proposed control law ensures convergence of the state to the origin.

Observer-Based Solution to the Strictly Positive Real Problem

Abstract: We study the extension of the class of linear time invariant plants that may be transformed into SPR systems introducing an observer. It is shown that for open loop stable systems a cascaded observer achieves the result. For open loop unstable systems an observer-based feedback is required to succeed. In general any stabilizable and observable system may be transformed into an SPR system using cascade or cascade and feedback controllers. This overcomes the old conditions of minimum phase and relative degree one. The result is illustrated with some examples.

Modélisation et stabilisation avec des entrées bornées d’un petit hélicoptère possédant deux rotors pivotants

Abstract: Modelisation et stabilisation avec des entrees bornees d’un petit helicoptere possedant deux rotors pivotants Farid Kendoul∗ , Isabelle Fantoni, Rogelio Lozano Heudiasyc, UMR CNRS 6599, UTC, BP 20529 60205 Compiegne, France email :{fkendoul, ifantoni, rlozano}@hds.utc.fr RESUME Dans ce papier, nous avons presente une nouvelle confi- guration pour un drone miniature autonome. Ce der- nier utilise un mecanisme de controle original qui com- porte deux rotors montes lateralement. La direction de la poussee totale peut etre obtenue en forcant les rotors a pivoter lateralement et longitudinalement. L’etude de ce mecanisme montre que les couples necessaires pour la commande peuvent etre obtenus en exploitant la nature gyroscopique des rotors pivotants. Cette confi- guration a ete aussi validee sur deux prototypes que nous avons construits. Apres avoir decrit la modeli- sation de la dynamique de l’helicoptere birotor, nous avons propose une loi de commande basee sur des sa- turations imbriquees qui a permis de prendre en compte les contraintes reelles sur les entrees de commande. Les resultats de simulation ont montre les bonnes perfor- mances d