Dissertation•
Design and navigation of a terrestrial and aerial hybrid vehicule
28 Jun 2018-
TL;DR: This works is focused in the conception of a hybrid vehicle with the ability to fly or roll over the ground when necessary and some control algorithms have been developed for each operation mode: on ground or in air.
Abstract: This works is focused in the conception of a hybrid vehicle with the ability to fly or roll over the ground when necessary. A revision of the present prototypes is made and then a new prototype is proposed with enhanced characteristics. The prototype consists of a quadrotor with two additional passive wheels without any other additional servomechanism. The modeling of each operation mode is exposed and then a model for the hybrid form is proposed. In the next section, some control algorithms have been developed for each operation mode: on ground or in air. These algorithms are validated via numerical simulation in the first instance. The last section describes the MOCA room and the system used for capturing the position and attitude of the vehicle. Also, experimental tests were made in order to validate the developed control strategies. It was also validated that the vehicle can follows aerial and terrestrial trajectories. Finally, an observer is implemented in order to identify the moment when the vehicle touches the ground. This knowledge is used to switch from air mode to ground mode without the need of additional sensors.
Citations
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Journal Article•
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TL;DR: In this paper, two major figures in adaptive control provide a wealth of material for researchers, practitioners, and students to enhance their work through the information on many new theoretical developments, and can be used by mathematical control theory specialists to adapt their research to practical needs.
Abstract: This book, written by two major figures in adaptive control, provides a wealth of material for researchers, practitioners, and students. While some researchers in adaptive control may note the absence of a particular topic, the book‘s scope represents a high-gain instrument. It can be used by designers of control systems to enhance their work through the information on many new theoretical developments, and can be used by mathematical control theory specialists to adapt their research to practical needs. The book is strongly recommended to anyone interested in adaptive control.
1,814 citations
References
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Journal Article•
[...]
TL;DR: In this paper, two major figures in adaptive control provide a wealth of material for researchers, practitioners, and students to enhance their work through the information on many new theoretical developments, and can be used by mathematical control theory specialists to adapt their research to practical needs.
Abstract: This book, written by two major figures in adaptive control, provides a wealth of material for researchers, practitioners, and students. While some researchers in adaptive control may note the absence of a particular topic, the book‘s scope represents a high-gain instrument. It can be used by designers of control systems to enhance their work through the information on many new theoretical developments, and can be used by mathematical control theory specialists to adapt their research to practical needs. The book is strongly recommended to anyone interested in adaptive control.
1,814 citations
TL;DR: In this article, a tutorial for modeling, estimation, and control for multi-rotor aerial vehicles that includes the common four-rotors or quadrotors case is presented.
Abstract: This article provides a tutorial introduction to modeling, estimation, and control for multirotor aerial vehicles that includes the common four-rotor or quadrotor case.
1,241 citations
Book•
30 Jun 2005TL;DR: Modeling and Control of Mini-Flying Machines is 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.
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.
486 citations
09 Apr 1991
TL;DR: A preliminary study of the problem of the feedback control of mobile robots is presented, and it is shown that stabilization of the cart's configuration around the configuration of a virtual reference cart becomes possible as long as the reference cart keeps moving.
Abstract: A preliminary study of the problem of the feedback control of mobile robots is presented. The robot considered is a two-wheel-driven nonholonomic cart. Despite the controllability of the system, pure state feedback stabilization of the cart's configuration around a given terminal configuration is not possible. However, feedback stabilization of the position of any point of the cart is possible. Extension to the problem of trajectory tracking in Cartesian space is then considered, and it is shown that stabilization of the cart's configuration around the configuration of a virtual reference cart becomes possible as long as the reference cart keeps moving. Several simple control laws are proposed, and simulation results are given. Connections with the path planning problem are pointed out. >
451 citations
TL;DR: In this paper, the authors apply modern nonlinear control theory to a 5-ft diameter main rotor helicopter to improve the performance of the controller and enable the tracking of aggressive trajectories.
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
371 citations