Thank you very much for downloading l2 gain and passivity techniques in nonlinear control. Maybe you have knowledge that, people have search numerous times for their chosen books like this l2 gain and passivity techniques in nonlinear control, but end up in malicious downloads. Rather than reading a good book with a cup of tea in the afternoon, instead they are facing with some harmful virus inside their desktop computer.

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 objective of this paper is to generate a desired flight path to be followed by an Unmanned Aerial Vehicle (UAV), with specified boundary conditions. The space is supposed without obstacles. After the user has defined the goal tasks, the path generator then determines a path for the vehicle that is a trajectory in space. The problem of path planning is formulated as an optimization problem: minimum energy, minimum acceleration and minimum jerk curves.

http://lsc.cemif.univ-evry.fr/~bestaoui/AIAA03_Bestaoui_hima_Sentouh.pdf

Motion Planning of a Fully Actuated Unmanned Air Vehicle

The optimal motion generation problem is solved subject to various actuator constraints while the motion is constrained to an arbitrary path. The considered objective function is a weighted time energy function while most of existing methods consider only the time-optimal problem. We present some simulation results using a mathematical programming technique (sequential quadratic programming) existing in the NPSOL software.

/pdf/actuator-constraints-in-optimal-motion-planning-of-1lsoqm1k0u.pdf

Actuator constraints in optimal motion planning of manipulators

The objective of this paper is to present the preliminary results of a model of a quadrotor airship, taking into account wind effect as well as the varying mass effects, using Newton formulation. Euler angles are used for kinematics. For dynamics, a mathematical description of a dirigible flight must contain the necessary information about aerodynamic, structural and other internal dynamic effects (engine, actuation) that influence the response of the airship to the controls.

A Newton Euler Approach to Modeling of a Quad-Rotor Autonomous Airship - Preliminary Results.

Energy based 3D trajectory tracking control of quadrotors with model-free based on-line disturbance compensation

In this paper, we propose a revisited form of the so-called Model-Free Control (MFC). Herein, the MFC principle is employed to deal with the unknown part of the plant only (i.e. unmodeled dynamics, disturbances, etc.) and occurs beside an Interconnection and Damping Assignment-Passivity Based Control (IDA-PBC) strategy that is used instead of the PID structure as done in the classical MFC form. Using the proposed formulation, it is shown that we can significantly improve the performance of the control and its robustness level. This problem is studied in the case of Multi-Inputs Multi-Outputs (MIMO) system with an application to a small Vertical Take-Off and Landing (VTOL) vehicle where a stability analysis is also provided. The numerical simulations have shown satisfactory results where an in-depth discussion with respect to the control performance is highlighted by considering several scenarios and using several metrics.

/pdf/3d-trajectory-tracking-control-of-quadrotor-uav-with-on-line-hhb7a165pw.pdf

Yasmina Bestaoui

Papers

Motion Planning of a Fully Actuated Unmanned Air Vehicle

Actuator constraints in optimal motion planning of manipulators

A Newton Euler Approach to Modeling of a Quad-Rotor Autonomous Airship - Preliminary Results.

Energy based 3D trajectory tracking control of quadrotors with model-free based on-line disturbance compensation

3D trajectory tracking control of quadrotor UAV with on-line disturbance compensation