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L2 Gain And Passivity Techniques In Nonlinear Control

Unmanned aerial vehicles (UAVs), or aerial drones, are an emerging technology with significant market potential. UAVs may lead to substantial cost savings in, for instance, monitoring of difficult-to-access infrastructure, spraying fields and performing surveillance in precision agriculture, as well as in deliveries of packages. In some applications, like disaster management, transport of medical supplies, or environmental monitoring, aerial drones may even help save lives. In this article, we provide a literature survey on optimization approaches to civil applications of UAVs. Our goal is to provide a fast point of entry into the topic for interested researchers and operations planning specialists. We describe the most promising aerial drone applications and outline characteristics of aerial drones relevant to operations planning. In this review of more than 200 articles, we provide insights into widespread and emerging modeling approaches. We conclude by suggesting promising directions for future research.

Optimization approaches for civil applications of unmanned aerial vehicles (UAVs) or aerial drones: A survey

In this paper, a new nonlinear controller for a quadrotor unmanned aerial vehicle (UAV) is proposed using neural networks (NNs) and output feedback. The assumption on the availability of UAV dynamics is not always practical, especially in an outdoor environment. Therefore, in this work, an NN is introduced to learn the complete dynamics of the UAV online, including uncertain nonlinear terms like aerodynamic friction and blade flapping. Although a quadrotor UAV is underactuated, a novel NN virtual control input scheme is proposed which allows all six degrees of freedom (DOF) of the UAV to be controlled using only four control inputs. Furthermore, an NN observer is introduced to estimate the translational and angular velocities of the UAV, and an output feedback control law is developed in which only the position and the attitude of the UAV are considered measurable. It is shown using Lyapunov theory that the position, orientation, and velocity tracking errors, the virtual control and observer estimation errors, and the NN weight estimation errors for each NN are all semiglobally uniformly ultimately bounded (SGUUB) in the presence of bounded disturbances and NN functional reconstruction errors while simultaneously relaxing the separation principle. The effectiveness of proposed output feedback control scheme is then demonstrated in the presence of unknown nonlinear dynamics and disturbances, and simulation results are included to demonstrate the theoretical conjecture.

Output Feedback Control of a Quadrotor UAV Using Neural Networks

Path planning techniques for unmanned aerial vehicles: A review, solutions, and challenges

Coverage path planning consists of finding the route which covers every point of a certain area of interest. In recent times, Unmanned Aerial Vehicles (UAVs) have been employed in several application domains involving terrain coverage, such as surveillance, smart farming, photogrammetry, disaster management, civil security, and wildfire tracking, among others. This paper aims to explore and analyze the existing studies in the literature related to the different approaches employed in coverage path planning problems, especially those using UAVs. We address simple geometric flight patterns and more complex grid-based solutions considering full and partial information about the area of interest. The surveyed coverage approaches are classified according to a classical taxonomy, such as no decomposition, exact cellular decomposition, and approximate cellular decomposition. This review also contemplates different shapes of the area of interest, such as rectangular, concave and convex polygons. The performance metrics usually applied to evaluate the success of the coverage missions are also presented.

Survey on Coverage Path Planning with Unmanned Aerial Vehicles

The paper presents a new method of robotic manipulator control based on decentralised pole-placement feedback deduced from the computed torque method. An anticipatory action is included in the controller by ensuring subsequent desired joint positions, velocities and accelerations in the Newton-Euler equations of motion. The desired torques and the coordination parameters are computed in the first level (discrete) when the torques coming from the decentralised PD or PID regulators are computed in the second level (continuous). The parameters of the decentralised PD and PID regulators are given by simple laws. Decentralised control is appropriate for this control scheme because it is very easy to share calculations among the micro-processors with few interconnections. Then the stability of the regulator is investigated. Finally, the simulation results obtained for the PD and PID regulators are presented.

http://lsc.univ-evry.fr/~bestaoui/BIEED89.pdf

Decentralised PD and PID robotic regulators

Sampling-based path planning: a new tool for missile guidance

This paper presents the design of 3-Dof multi-link robot arm that is mounted on the multirotor To be considered
the dynamic characteristics of the manipulation platform, the decoupled dynamic models of the system
are derived The main advantage of the first joint is introduced for more robustness and stability during hovering
The PID controller will be implemented for position and attitude of multirotor control, whereas, a sliding
mode controller will be designed for a manipulator robot, which is then compared with the sliding surface
that has been integrated with the proportional-derivative (PD) controller The performance of the proposed
technique is demonstrated through a simulation using Simulink and Matlab environment

https://hal.archives-ouvertes.fr/hal-02876022/document

PD Sliding Mode Controller Based Decoupled Aerial Manipulation

Comprehensive characterization of airship response to wind and time varying mass

This paper introduces a velocity based guidance strategy for 3D time-prescribed path following. A second alternative, acceleration based guidance law that incorporates an integral action, is proposed to deal with the more adverse environments. The proposed strategy, which is combined with an efficient nonlinear control strategy for under-actuated systems, is applied to a quadrotor. It ensures the convergence toward the reference trajectory and allows the quadrotor to imitate the behavior of a fixed-wing UAV in the plane (non-holonomic like-navigation). The effectiveness of the proposed Guidance & Control (G&C) loop is shown through some numerical simulations.

/pdf/quadrotor-guidance-control-for-flight-like-nonholonomic-4kr3ynwk7y.pdf

Yasmina Bestaoui

Papers

Decentralised PD and PID robotic regulators

Sampling-based path planning: a new tool for missile guidance

PD Sliding Mode Controller Based Decoupled Aerial Manipulation

Comprehensive characterization of airship response to wind and time varying mass

Quadrotor Guidance-Control for flight like nonholonomic vehicles