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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

Cartesian positions, speeds and accelerations are planned to describe the desired motion of manipulators. We examine the cases of point to point and via points motions, assuming that the reference values of the manipulator are represented by C/sup 2/ polynomial trajectories. Usual kinematical constraints are not always sufficient, then we focus on voltage and current DC actuator constraints.

/pdf/a-motion-generation-method-of-industrial-robots-in-cartesian-1f7fsthnxa.pdf

A motion generation method of industrial robots in cartesian space

Reusable Launch Vehicle (RLV) are being pursued as low-cost alternatives to expandable launch vehicles and shuttle. The first stage of the RLV under study is in fact constituted by a HALE Unmanned Aerial Vehicle that will return to its launching site after releasing the other stages. For an autonomous aerial vehicle to perform a specific operation, the trajectory generation is a fundamental part of its mission planning. For the purpose of flight path generation, it is usually sufficient to treat only the translational motion. The objective of this paper is threefold: to generate a desired flight path to be followed by the UAV at the release altitude , to analyze the possible release configurations and propose a simple way of re-planning reference trajectories of the last stages, when necessary. This work has been done under the auspices of the CNES (Centre National des Etudes Spatiales) within the PERSEUS Program.

Geometry of Translational Trajectories for an Autonomous Vehicle With Wind Effect

https://hal.archives-ouvertes.fr/hal-01629394/document

Boosted Flight Controller for Quadrotor Navigation under disturbances

In this paper, two redundant controllers are proposed in order to boost the capabilities of the popular feedback linearization flight controller scheme. The first one is based on the sliding mode framework whilst the second one is built upon the Model Free Control (MFC) theory. An in-depth discussion is highlighted with detailed evaluation in terms of performance, consumed energy, and robustness by considering several scenarios and using several metrics. The numerical simulations have shown satisfactory results using nominal system model or disturbed model through an application to a small Vertical Take-Off and Landing (VTOL) quadrotor.

/pdf/3d-autonomous-navigation-of-quadrotor-using-redundant-flight-2ct244gv7i.pdf

Yasmina Bestaoui

Papers

A motion generation method of industrial robots in cartesian space

Geometry of Translational Trajectories for an Autonomous Vehicle With Wind Effect

Boosted Flight Controller for Quadrotor Navigation under disturbances

3D autonomous navigation of quadrotor using redundant flight controllers: Comparison study

Improved IMC-Filter Design to IMC-PI Equivalence: Application to Quadrotor